Hi everyone, This is my first time using ROS and Moveit! On Ubuntu 20.04 and runing ROS Neotic, Moveit1 along with gazebo As I used the Xarm6 Package and trying to simulate a motion plan with the Moveit! tutorial python code, it does not simulate all the points instead, i got Computed Cartesian path with 2 points (followed 12.500000% of requested trajectory). I am trying to have the end effector move to multiply points to complete a cycle.

!/usr/bin/env python

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Author: Acorn Pooley, Mike Lautman

BEGIN_SUB_TUTORIAL imports

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To use the Python MoveIt interfaces, we will import the moveit_commander_ namespace.

This namespace provides us with a MoveGroupCommander_ class, a PlanningSceneInterface_ class,

and a RobotCommander_ class. More on these below. We also import rospy_ and some messages that we will use:

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Python 2/3 compatibility imports

from __future__ import print_function from six.moves import input

import sys import copy import rospy import moveit_commander import moveit_msgs.msg import geometry_msgs.msg

try: from math import pi, tau, dist, fabs, cos except: # For Python 2 compatibility from math import pi, fabs, cos, sqrt

tau = 2.0 * pi

def dist(p, q):
    return sqrt(sum((p_i - q_i) ** 2.0 for p_i, q_i in zip(p, q)))

from std_msgs.msg import String from moveit_commander.conversions import pose_to_list

END_SUB_TUTORIAL

def all_close(goal, actual, tolerance): """ Convenience method for testing if the values in two lists are within a tolerance of each other. For Pose and PoseStamped inputs, the angle between the two quaternions is compared (the angle between the identical orientations q and -q is calculated correctly). @param: goal A list of floats, a ... (more)