I ‘m trying to make a python file (as a “normal programm” using python API for flexibility) to calculate trajectories and then execute it, I would like to use the cartesian path (with move_group.compute_cartesian_path) wich is what I want at the end (I’m not sure if it’s possible and as easy with the niryo /niryo_one_follow_joint_trajectory_controller/command).
I ran into a problem :
when I use “move_group.get_current_pose().pose” if I print it I get a difference on rotation x,y,z (value returned is approximately half of the value printed on Niryo One studio) resulting in error ABORTED: Solution found but controller failed during execution
I guess I made a mistake when using:
group_name = “arm”
move_group = moveit_commander.MoveGroupCommander(group_name)
Here is my file if you have any advice :