@tdl-ua: please see [Adamsua-lab/motoman_ma2010_d500_waam_moveit_config#1](https://github.com/Adamsua-lab/motoman_ma2010_d500_waam_moveit_config/pull/1), which is an example of how your setup could be approximated using the `industrial_robot_client`. It's not exactly how it would be with `motoman_driver`, but close enough to give you an idea. Note: I've also changed your MoveIt configuration to use chains for the two groups and used `trac_ik` instead of KDL (with `Distance` solve type). If/when you have your real hw, we can revisit this. --- Note: this only gets you to the *actual* problem / challenge: planning for the combined scene (or at least: with kinematics involved). --- [Visit Topic](https://discourse.ros.org/t/integration-of-6-axis-manipulator-and-2-axis-positioner-external-axes/7931/11) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: