Sending new waypoint to MotionTrajectory Sawyer 5.3


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Hi all,

I'm trying to send new waypoints to sawyer every 10 seconds or so.

What is the alternative to using

MotionTrajectory traj.append_waypoint(waypoint.to_msg())

This adds the current waypoint to the previous waypoints and runs them sequentially.

I'd like to overwrite the queue each time.


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OK. for now I just make a new queue each time and it does the job.

But I'd like to know what other parameters of MotionTrajectory are available.

Sorry if this is obvious somewhere but i haven't found the api references for it yet.




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