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.
- 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).
- 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.
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