Save trajectory of end-effector
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?
Asked: 2021-08-31 13:52:09 -0500
Seen: 41 times
Last updated: Sep 15 '21
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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.
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 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, Yes I wanted the trajectory of the end effector. Thanks for helping me to clarify.