Hello!
For my current project on picking with a UR, I'm looking for a cache for planned paths. Some movements (e.g. from the put position back to a start position) are repeated for every object and the planning needs some time (around 2 seconds) which I'd like to save by storing plans in a DB (doesn't even need to be persistent) so that if I request the same start and end-joints I can look up the trajectory and execute it directly (assuming a constant collision environment).
Is there something available or do I have to implement it?
↧