Hi!I want to make the UR5 make draw random lines, arcs and circles on a piece of paper. My approach for that so far was to generate the geometry in Processing (Java for creatives..) and send points via TCP as moveP commands. The problem is that for example I was not able to make a smooth motion, even with a small blend radius and high "solution" up to 50 points per arc. Any idea how this problem is solved? Would also use ROS or other solutions asI am in a early project-phase and just want to collect potential ways how to do it.Thanks in advance.