Save trajectory of end-effector

asked 2021-08-31 13:52:09 -0500

k2108 gravatar image

updated 2021-09-15 08:17:00 -0500

Hello everyone,

Is there any way to store the trajectory points of the end-effector of the robotic arm while following the MoveIt pick and place tutorial in a file?

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If you want the trajectory to be persistenly stored you can read the trajectory points and write them in a file.

Weasfas gravatar image Weasfas  ( 2021-09-15 04:31:29 -0500 )edit

Hi @Weasfas, I don't exactly know how to read the trajectory points. Currently, I am just reading panda_link8 positions (x,y,z) during the pick and place motion. Are the positions of panda_link8 called trajectory points?

k2108 gravatar image k2108  ( 2021-09-15 05:02:27 -0500 )edit

@k2108 It depends on what you want to save. If I understood you properly you want the position of each link in time during the movement action but that is not really the trajectory of the arm, probably what you want to save is the trajectory of the end efector that is going to perform the grasp.

Weasfas gravatar image Weasfas  ( 2021-09-15 06:18:33 -0500 )edit

@Weasfas, Yes I wanted the trajectory of the end effector. Thanks for helping me to clarify.

k2108 gravatar image k2108  ( 2021-09-15 08:17:39 -0500 )edit