Feature summary
Short introduction to the feature and why it should be implemented
faster and more native Motion planner.
Is an xrdf description available on the ur15 robot for faster planning and better carthesian movement?
Based on that repository I was asking myself if it is not possible to integrate it with the UR15
https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_cumotion/tree/release-3.0/isaac_ros_cumotion_robot_description/xrdf
Followed by a longer description
The standard motion planner often has latencys which faces then problems with finding a inverse kinematic position with this planner it might solve the problem. In general OMPL and PILZ planner are planning in joint space which does make it difficult for linear motion. The Planner differs from the normal ur planner.
Related issues
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Feature summary
Short introduction to the feature and why it should be implemented
faster and more native Motion planner.
Is an xrdf description available on the ur15 robot for faster planning and better carthesian movement?
Based on that repository I was asking myself if it is not possible to integrate it with the UR15
https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_cumotion/tree/release-3.0/isaac_ros_cumotion_robot_description/xrdf
Followed by a longer description
The standard motion planner often has latencys which faces then problems with finding a inverse kinematic position with this planner it might solve the problem. In general OMPL and PILZ planner are planning in joint space which does make it difficult for linear motion. The Planner differs from the normal ur planner.
Related issues
Links to related issues internal or external to this repo
Tasks
To complete this issue involves