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I have a file which include ur5 pose (x,y,z rx,ry,rz) i want to simulate the trajectory with moveit (ROS) before sending it to the real robot (to know if the trajectory is reachable or not (singularity)).
Perhaps after converting to ros convention (axis angle to quaternion and verifying the axes).
Some points are not reachable with moveit but in ur5 polyscope are reachable.( I USE movep to send points with a,v,r parameters)
Does anyone have the same issue?
which planner to use ? and how to add these parameters ?