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OpenManipulator-P for controlling in Gazebo and Moveit with ROS

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Hi I just got an open manipulator pro recently and started a project with it. Along with the project, I noticed that the arm hit itself in some instances. Through...

How can the OpenManipulator-P be taught coordenates as “schedules” or “groups” and then, from an external application like serial, USB, command prompt or ethernet, trigger these “action groups” programmatically.