Synchronized cartesian path between dual arms for moveit

asked 2019-12-01 20:13:57 -0600

updated 2019-12-01 20:51:24 -0600

jayess gravatar image

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 move_group, could I make both arms with sync move by specifying both_arms for move_group?

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