Confusion about replaying target_joint_pose and target_ee_pose together

[eddie-cui]

I have used motionplanning.sh to collect the trajectory. But I'm confused about how to collect target_joint_pose and also the target_ee_pose at the same time.

I want to replay both the target_joint_pose and the corresponding target_ee_pose simultaneously. Does this mean I should first replay the trajectory in target_joint_pose control mode and then apply forward kinematics (FK) to compute the corresponding target_ee_pose?

Or, can I replay the same trajectory twice — once under target_joint_pose control and once under target_ee_pose control — and assume that the target_joint_pose and target_ee_pose are already matched (i.e., correspond to each other)?

I'm a bit confused about the correct approach, and I would really appreciate your clarification. Thank you!