[quote="VictorLamoine, post:14, topic:3170"]
For the second option you need to read the ROS Additive Manufacturing trajectory and feed it to MoveIt
[/quote]
Just a clarification: you don't need MoveIt necessarily. If your trajectory is compatible with what your driver accepts (ie: a `JointTrajectory` or some driver-specific representation), then it should be possible to send the trajectory to the driver immediately. No need for MoveIt as an in-between.
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