calculate end effector path length in moveit

asked 2019-02-16 01:42:24 -0500

MahShah gravatar image

I need to find the path which is traveled by end_effector that is called path length in moveit. i have used planning interface but It is difficult to get path length because MotionPlanResponse does not provide this output. ( ) could anyone please advise me or give me sample code if it is already available. thanks

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I don't know of anything existing for this. You will probably have to write your own code to find the EE frame at each step of the trajectory and use that to project a point in the EE frame to the base frame. Then you'll have a list of 3d points in the base frame you can use to find the length.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-02-17 04:37:34 -0500 )edit