Hi people,
I am using a neural network to generate a sequence of joint states which represent a trajectory for my robotic arm (7 DOF - franka emika panda).
I have tried sending directly the joint states in each iteration with MoveGroupCommander.go() but this results in a really really slow execution (even if I have removed acceleration/speed limits in joint_limits.yaml). So I would like to generate a trajectory in advance and THEN execute it in one shot, hoping this will result in a faster/smoother execution (if you have other suggestions... they're welcome).
How should I proceed? I have found nothing in the docs that helped me out. I have found cartesian waypoints trajectories but that's not what I need, I specifically need joint_states. I think I may use IK but given it's 7DOF I don't know if that would be as accurate.
note: I am working only with moveit simulations. I have no access to the real robot.
Thanks for the help.
Best,
Oliviero
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