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Found 4 results

  1. JUNCHAO

    Moveit Trajectory Failed

    Hello Intera Team, I was trying to plan and execute the trajectory in Moveit, but it always fails whatever how to plan it. I know it seems to be similar to the few previous topics that other users posted, but I really tried all the methods I found in this forum and even on the whole Internet. Our university tech guys fixed the NTP issue for me, but it still fails. I don't know what to do right now. I have been suffering from this for few weeks too. I attach the whole launch code and the trajectory plan code here. [intera - http://021705CP00093.local:11311] robotics@robotics-Latitude-E5470:~/ros_ws$ roslaunch sawyer_moveit_config sawyer_moveit.launch ... logging to /home/robotics/.ros/log/0293b4ba-69ac-11e8-8124-484d7ef5fc80/roslaunch-robotics-Latitude-E5470-28978.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://169.254.9.57:35385/ SUMMARY ======== PARAMETERS * /move_group/allow_trajectory_execution: True * /move_group/allowed_execution_duration_scaling: 1.2 * /move_group/allowed_goal_duration_margin: 0.5 * /move_group/capabilities: move_group/MoveGr... * /move_group/controller_list: [{'default': True... * /move_group/controller_manager_name: simple_controller... * /move_group/head/planner_configs: ['SBLkConfigDefau... * /move_group/jiggle_fraction: 0.05 * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/moveit_controller_manager: moveit_simple_con... * /move_group/moveit_manage_controllers: True * /move_group/octomap_resolution: 0.025 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar * /move_group/planner_configs/SBLkConfigDefault/range: 0.0 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT * /move_group/planning_plugin: ompl_interface/OM... * /move_group/planning_scene_monitor/publish_geometry_updates: True * /move_group/planning_scene_monitor/publish_planning_scene: True * /move_group/planning_scene_monitor/publish_state_updates: True * /move_group/planning_scene_monitor/publish_transforms_updates: True * /move_group/request_adapters: default_planner_r... * /move_group/right_arm/planner_configs: ['SBLkConfigDefau... * /move_group/start_state_max_bounds_error: 0.1 * /move_group/use_controller_manager: True * /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/head/kinematics_solver_attempts: 3 * /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/head/kinematics_solver_timeout: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/right_arm/kinematics_solver_attempts: 10 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005 * /robot_description_planning/joint_limits/right_j0/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j0/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j0/max_acceleration: 3.5 * /robot_description_planning/joint_limits/right_j0/max_velocity: 0.88 * /robot_description_planning/joint_limits/right_j1/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j1/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j1/max_acceleration: 2.5 * /robot_description_planning/joint_limits/right_j1/max_velocity: 0.678 * /robot_description_planning/joint_limits/right_j2/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j2/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j2/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j2/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j3/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j3/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j3/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j3/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j4/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j4/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j4/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j4/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j5/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j5/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j5/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j5/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j6/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j6/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j6/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j6/max_velocity: 2.316 * /robot_description_semantic: <?xml version="1.... * /rosdistro: kinetic * /rosversion: 1.12.13 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver: kdl_kinematics_pl... * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_attempts: 3 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_search_resolution: 0.005 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_timeout: 0.005 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_attempts: 10 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_search_resolution: 0.005 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_timeout: 0.005 NODES / move_group (moveit_ros_move_group/move_group) rviz_robotics_Latitude_E5470_28978_3340562522888942337 (rviz/rviz) ROS_MASTER_URI=http://021705CP00093.local:11311 process[move_group-1]: started with pid [28990] process[rviz_robotics_Latitude_E5470_28978_3340562522888942337-2]: started with pid [28991] [ INFO] [1528323945.052649773]: Loading robot model 'sawyer'... [ INFO] [1528323945.065726462]: rviz version 1.12.16 [ INFO] [1528323945.066183718]: compiled against Qt version 5.5.1 [ INFO] [1528323945.066228000]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1528323945.125379174]: Loading robot model 'sawyer'... [ INFO] [1528323945.191456726]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1528323945.205863997]: MoveGroup debug mode is ON Starting context monitors... [ INFO] [1528323945.206793758]: Starting scene monitor [ INFO] [1528323945.224457880]: Listening to '/planning_scene' [ INFO] [1528323945.224713866]: Starting world geometry monitor [ INFO] [1528323945.236506174]: Listening to '/collision_object' using message notifier with target frame '/base ' [ INFO] [1528323945.245107492]: Stereo is NOT SUPPORTED [ INFO] [1528323945.245556299]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1528323945.245635256]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1528323945.276487852]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1528323945.314766664]: Initializing OMPL interface using ROS parameters [ INFO] [1528323945.366329714]: Using planning interface 'OMPL' [ INFO] [1528323945.369706289]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1528323945.371147439]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1528323945.372469617]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1528323945.373617677]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1528323945.375042832]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1528323945.376669402]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1528323945.376744465]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1528323945.376773618]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1528323945.376839280]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1528323945.376858191]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1528323945.376894036]: Using planning request adapter 'Fix Start State Path Constraints' [ WARN] [1528323945.383325501]: Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ WARN] [1528323945.384526347]: Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ INFO] [1528323945.651669985]: Added FollowJointTrajectory controller for /robot/limb/right [ INFO] [1528323945.652065587]: Returned 1 controllers in list [ INFO] [1528323945.708770350]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1528323946.063715013]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1528323946.063987749]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1528323946.064149028]: MoveGroup context initialization complete You can start planning now! [ INFO] [1528323948.847131272]: Loading robot model 'sawyer'... [ INFO] [1528323948.924133996]: Loading robot model 'sawyer'... [ INFO] [1528323948.999324040]: Starting scene monitor [ INFO] [1528323949.013077514]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1528323950.032157486]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. [ INFO] [1528323950.037879837]: Constructing new MoveGroup connection for group 'right_arm' in namespace '' [ WARN] [1528323951.055104848]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch [ INFO] [1528323951.073245861]: Ready to take commands for planning group right_arm. [ INFO] [1528323951.073354076]: Looking around: no [ INFO] [1528323951.073407860]: Replanning: no [ WARN] [1528323951.086621598]: Interactive marker 'EE:goal_right_hand' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details. [ WARN] [1528323974.891747073]: Failed to fetch current robot state. [ INFO] [1528323974.892801862]: Planning request received for MoveGroup action. Forwarding to planning pipeline. Debug: Starting goal sampling thread Debug: Waiting for space information to be set up before the sampling thread can begin computation... [ INFO] [1528323974.899332549]: Planner configuration 'right_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Debug: Beginning sampling thread computation Debug: Stopped goal sampling thread after 10 sampling attempts Debug: RRTConnect: Waited 0.010144 seconds for the first goal sample. Debug: RRTConnect: Waited 0.010110 seconds for the first goal sample. Debug: RRTConnect: Waited 0.010098 seconds for the first goal sample. Debug: RRTConnect: Waited 0.010095 seconds for the first goal sample. Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.016088 seconds Info: RRTConnect: Created 5 states (3 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.018401 seconds Debug: ParallelPlan.solveMore: Spent 0.000181 seconds hybridizing 1 solution paths (attempted 0 connections between paths) Debug: ParallelPlan.solveMore: Spent 0.000227 seconds hybridizing 2 solution paths (attempted 1 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.018802 seconds Debug: ParallelPlan.solveMore: Spent 0.000042 seconds hybridizing 3 solution paths (attempted 2 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.021260 seconds Debug: ParallelPlan.solveMore: Spent 0.000047 seconds hybridizing 4 solution paths (attempted 3 connections between paths) Info: ParallelPlan::solve(): Solution found by one or more threads in 0.025939 seconds Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003359 seconds Debug: ParallelPlan.solveMore: Spent 0.000078 seconds hybridizing 6 solution paths (attempted 11 connections between paths) Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Created 5 states (3 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003567 seconds Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003620 seconds Debug: ParallelPlan.solveMore: Spent 0.000114 seconds hybridizing 8 solution paths (attempted 13 connections between paths) Debug: ParallelPlan.solveMore: Spent 0.000016 seconds hybridizing 8 solution paths (attempted 0 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.005818 seconds Debug: ParallelPlan.solveMore: Spent 0.000046 seconds hybridizing 9 solution paths (attempted 8 connections between paths) Info: ParallelPlan::solve(): Solution found by one or more threads in 0.005998 seconds Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.002479 seconds Debug: ParallelPlan.solveMore: Spent 0.000124 seconds hybridizing 11 solution paths (attempted 23 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003580 seconds Debug: ParallelPlan.solveMore: Spent 0.000119 seconds hybridizing 12 solution paths (attempted 11 connections between paths) Info: ParallelPlan::solve(): Solution found by one or more threads in 0.003834 seconds Info: SimpleSetup: Path simplification took 0.012288 seconds and changed from 3 to 2 states [ INFO] [1528323978.521995934]: Received new trajectory execution service request... [ WARN] [1528323979.522709048]: Failed to validate trajectory: couldn't receive full current joint state within 1s [ INFO] [1528323979.523042746]: Execution completed: ABORTED [ INFO] [1528323989.342307823]: Stopping scene monitor [ WARN] [1528323989.349337698]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [rviz_robotics_Latitude_E5470_28978_3340562522888942337-2] process has finished cleanly log file: /home/robotics/.ros/log/0293b4ba-69ac-11e8-8124-484d7ef5fc80/rviz_robotics_Latitude_E5470_28978_3340562522888942337-2*.log ^C[move_group-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
  2. Hi, we are trying to make our Sawyer to execute Cartesian trajectories with dynamically changing interaction parameters (impedance), e.g. the waypoints are defined as 6D poses with associated impedance parameters. As first attempt we tried to use the motion interface to execute the Cartesian trajectory. However, in this interface the interaction parameters are constant (a property of the trajectory) and cannot be defined per waypoint. We tried to "hack" it by publishing our own InteractionControlCommand's during the trajectory execution but the node "motion_controller" on the Sawyer computer periodically publishes the parameters defined in the trajectory and the messages clash. Did someone succeed on implementing a similar functionality? --Roberto
  3. lr101095

    SolvePositionIK and Transformations

    Can someone please explain how SolvePositionIK works in terms of path planning? I want to know how to solve for a trajectory by inputting the point position (and maybe orientation) in order to achieve a desired pose related to the reference point. I'm using a kinect in simulation to scan the environment. So I want to be able to take a point from the camera frame and calculate the position in the global frame so that the transformation required for IK to solve for the pose cam be derived. Can anyone also suggest a way of achieving that? Thanks in advance - Luke
  4. Hello, I would like to have more information about how set_joint_trajectory() (from intera_interface.limb.Limb) works. Here is the documentation I found. https://rethinkrobotics.github.io/intera_sdk_docs/5.0.4/intera_interface/html/index.html I tried to send a trajectory to Sawyer using this method. For each of the 60 points of the trajectory, I run set_joint_trajectory(joint_names, joint_positions, joint_velocities, joint_accelerations). But it seems that the arm did not take into account the velocities and acceleration. The resulting move was very fast, maybe at the maximum speed of the robot. Therefore I have some questions for you: - I don't know how this method works, but regarding this result I think it is non-blocking ? - If it is the case, how should I proceed to run the whole trajectory correctly ? (I need to send point by point) - Is there a topic or something to know if the execution of the current point has finished ? - And finally, if this function use the JTAS (I don't think so from what I read), in which mode should it be running ? Clément