Is it possible to use Mastercam or do you know any alternative in ROS / Moveit melodic to program the path of the tool?

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Hey everyone.

I am involved in a project with Kinova Gen3 7DoF robots and so far we have only managed to run the demo programs correctly on Gazebo and on the real robot.

We have tried to modify a Python program that comes in the Kinova Gen3 packages for ROS / Movit melodic and execute a small program that performs a square, in principle it executes it correctly, but when trying to execute it multiple different times it seems to skip one of the positions and since the movements are incremental, the robot totally loses the desired position.

Our experience is in Mastercam-Robomaster, Roboguide and Mastercam-RoboDK, with this experience, ROS / Movit seems considerably complicated, although it is for the moment our only option.

RoboDK has the Kinova Gen3 robots within its application, but at the moment they do not have a driver that works correctly. RoboDK allows to obtain a Python program with the trajectories that we want to carry out.

https://www.dropbox.com/s/v4677j16tnz...

Shared with Dropbox

If you know of any interesting information about controlling Kinova Gen3 robots please share it here.

Thanks