@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.
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Note: this only gets you to the *actual* problem / challenge: planning for the combined scene (or at least: with kinematics involved).
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[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.
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