moveit_task_constructor icon indicating copy to clipboard operation
moveit_task_constructor copied to clipboard

Published 20 hours ago • verified publisher icon ros-planning

travel (trajectory) length and time of end-effector joint

Open h3ngy1ng opened this issue 7 months ago • 1 comments

[rookie] ive a robot arm of 6 joints and would like to know:

  1. how does mtc and rviz know joint1 corresponds to the base joint, etc.
  2. i have the below code snippet calc the total trajectory length and time but i believe it computes both linear and rotary movement of all 6 joints. (x, y, z) from home position to an arbitrary (0, 0.5, 1.5) metres: Screenshot from 2024-07-18 10-02-32 Screenshot from 2024-07-18 10-03-57

how do i verify mtc and rviz are reading the last joint (joint 6) as end-effector joint and get the travel (trajectory) length, time of specified joint.

h3ngy1ng avatar Jul 18 '24 02:07 h3ngy1ng