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UR5 use catesian coordinates in ur_driver test_move.py

asked 2015-01-14 05:51:15 -0500

Jan Moritz gravatar image

Hi,

i would like to write some catesian coordinates in test_move.py but i can only change the joint positions.

Has anyone an idea?

Link to test_move.py: https://github.com/ros-industrial/uni...

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answered 2015-01-14 06:04:11 -0500

gvdhoorn gravatar image

You might be interested in the MoveIt ComputerCartesianPath function. Apparently it is also supported by the Python wrappers, but I don't know how well it works there (see Python ComputeCartesianPath on moveit-users).

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I am looking for something like this, that's right. But I don't want to use moveit.

Jan Moritz gravatar imageJan Moritz ( 2015-01-14 07:21:59 -0500 )edit

Then I guess you'll have to do the IK yourself for all the points that you want in your trajectory. MoveIt includes a service that you can use for that. Alternatively, you could perhaps make use of the libraries in the ur_kinematics package.

gvdhoorn gravatar imagegvdhoorn ( 2015-01-14 09:35:01 -0500 )edit

Note that not using MoveIt will also mean that you'll have to do collision checking yourself.

gvdhoorn gravatar imagegvdhoorn ( 2015-01-14 10:57:32 -0500 )edit

Thank you very much for the answer. This was very helpful =)

Jan Moritz gravatar imageJan Moritz ( 2015-01-15 03:34:08 -0500 )edit

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Asked: 2015-01-14 05:51:15 -0500

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Last updated: Jan 14 '15