## Posts Tagged “how-to”

Filter MoveIt cartesian path plans with jump_threshold

MoveIt is a useful tool for robot motion planning, but it often lacks documentation for key functions and features. One particularly opaque function is compute_cartesian_path, which takes as input waypoints of end effector poses, and outputs a joint trajectory that visits each pose. Although this function is in the tutorials, the tutorials don’t cover the critical role of the jump_threshold parameter when running the function on a real robot.

Compressing Videos with ffmpeg

Publication venues in robotics often allow supplementary video submissions. There are often strict size limits on video submissions. To meet these limits, it’s often necessary to compress the video.