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Since you have a UR10, the jog_arm package will work on your robot. It's not a point-to-point planner (yet) but you publish velocity commands to it. By definition, the orientation of the end-effector will be constant (unless you publish a roll/pitch/yaw velocity).

And we have recreated the Boston Dynamics "upright wine glass" video -- maintaining a pose as the base of the robot moves. This cannot be done with point-to-point planners. So that's a cool ability, but it's still a bit slow and jerky. (video)

If you decide to go this route, send me a message and I will set you up with a config file for a UR10.

Since you have a UR10, the jog_arm jog_arm package will work on your robot. It's not a point-to-point planner (yet) but you publish velocity commands to it. By definition, the orientation of the end-effector will be constant (unless you publish a roll/pitch/yaw velocity).

And we have recreated the Boston Dynamics "upright wine glass" video -- maintaining a pose as the base of the robot moves. This cannot be done with point-to-point planners. So that's a cool ability, but it's still a bit slow and jerky. (video)

If you decide to go this route, send me a message and I will set you up with a config file for a UR10.

Since you have a UR10, the jog_arm package will work on your robot. It's not a point-to-point planner (yet) but you publish velocity commands to it. By definition, the orientation of the end-effector will be constant (unless you publish a roll/pitch/yaw velocity).

And we have recreated the Boston Dynamics "upright wine glass" video -- maintaining a an end effector pose as the base of the robot moves. This cannot be done with point-to-point planners. So that's a cool ability, but it's still a bit slow and jerky. (video)

If you decide to go this route, send me a message and I will set you up with a config file for a UR10.

Since you have a UR10, the jog_arm package will work on your robot. It's not a point-to-point planner (yet) but you publish velocity commands to it. By definition, the orientation of the end-effector will be constant (unless you publish a roll/pitch/yaw velocity).

And we have recreated the Boston Dynamics "upright wine glass" video -- maintaining an end effector pose as the base of the robot moves. This cannot be done with point-to-point planners. So that's a cool ability, but it's still a bit slow and jerky. (video)) The jerkiness is probably due to nav stack localization inaccuracies.

If you decide to go this route, send me a message and I will set you up with a config file for a UR10.

Since you have a UR10, the jog_arm package will work on your robot. It's not a point-to-point planner (yet) but you publish velocity commands to it. By definition, the orientation of the end-effector will be constant (unless you publish a roll/pitch/yaw velocity).

And we have recreated the Boston Dynamics "upright wine glass" video -- maintaining an end effector pose as the base of the robot moves. This cannot be done with point-to-point planners. So that's a cool ability, but it's still a bit slow and jerky. (video) The jerkiness is probably due to nav stack localization inaccuracies.

jog_arm will not violate whatever joint constraints are defined in the SRDF. You can add a bit of padding around the joint limits, if you want (maybe 5 or 10 degrees).

If you decide to go this route, send me a message and I will set you up with a config file for a UR10.

Since you have a UR10, the jog_arm package will work on your robot. It's not a point-to-point planner (yet) but you publish velocity commands to it. By definition, the orientation of the end-effector will be constant (unless you publish a roll/pitch/yaw velocity).

And we have recreated the Boston Dynamics "upright wine glass" video -- maintaining an end effector pose as the base of the robot moves. This cannot be done with point-to-point planners. So that's a cool ability, but it's still a bit slow and jerky. (video) The jerkiness is probably due to nav stack localization inaccuracies.

jog_arm will not violate whatever joint constraints are defined in the SRDF. You can add a bit of padding around the joint limits, if you want (maybe 5 or 10 degrees).

If you decide to go this route, send me a message and I will set you up with a config file for a UR10.