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In addition to the tutorials below, you can find an example of using the joint trajectory action in this tutorial for moving the arm on the PR2.

  1. Moving the arm through a Cartesian pose trajectory using inverse kinematics and the joint trajectory action

    This tutorial teaches you how to move the arm through Cartesian pose trajectories using inverse kinematics and low-level joint controllers (the joint_trajectory_action).

  2. Moving the arm using the Joint Trajectory Action

    This tutorial demonstrates moving the arm using the Joint Trajectory Action which is an interface to the lower-level Joint Trajectory Controller.

Create a new tutorial:

2024-12-07 14:52