Hi,
I have a manipulator which can be commanded through moveit_commander in Python. I want each joint to follow a periodic trajectory in joint space. I have tried sending joint commands via `set_joint_value_target` for small time steps, but the motion is jerky and not continuous, as moveit stops to plan at each new command.
Is there anything similar to `compute_cartesian_path` in joint space? I couldn't find anything. In case there isn't any equivalent command, how can I possibly get rid of the discontinuity in the motion?
I want this motion for calibration of the arm, so it really needs to be continuous.
Thank you.
Bests
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