I’m sending urscript commands to move the robot around. This works fine if I just move from pose to pose. I now want to follow a trajectory with some blending.
For blending, the robot has to know at least the next two waypoints but I have found no way to pass a list of poses.
How can I do that?
You will need to send a program with multiple motions, instead of just single line script commands.
def motions(): movej([jp0], a0, v0, r=0.1) movej([jp1], a1, v1, r=0.1) movej([jp2], a2, v2, r=0.1) movej([jp3], a3, v3) end
jpx is the respective joint angles (could also be a pose), and
vx is the respective speed and acceleration.
thanks, got it running.