Question

Hi, I have a question about cartesian path for moveit. I would like to control manipulator with dual arms synchronized to use cartesian path. From the link, Move Group Interface Tutorial

moveit_msgs::RobotTrajectory trajectory;  
double fraction = group.computeCartesianPath(waypoints,
                                             0.01,  // eef_step
                                             0.0,   // jump_threshold
                                             trajectory);

We can set cartesian waypoints for movegroup, could I make both arms with sync move by specifying botharms for move_group?

Asked by hrk1859 on 2019-12-01 18:26:43 UTC

Answer 1

Well, have you tried it? Yes, if you include both arms in move_group called both_arms and you set a goal for each of them, you can make both arms move at the same time. As long as the IK can be solved and the path has no discontinuities, there should be no problem.

Asked by fvd on 2020-02-28 04:19:52 UTC

Synchronized cartesian path between dual arms for moveit

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