Compas FAB in Grasshopper for executing in real time

[castroecosta]

Dear Compas Fab community,
I'm trying to use the GH plugin to drive a UR10e in real time. The GH example files seem to stop at planning/simulation, is it at all possible to have it run the robot? If so, are there other example files that I'm am missing for that stage?
Any advice is appreciated!
Thanks in advance, Eduardo

[gonzalocasas]

@castroecosta yes, it is absolutely possible to do this. Could you share your GH definition, or at least a screenshot of it for me to understand your setup a bit? For the control itself, I assume you're using ur-rtde?

[castroecosta]

Hi @gonzalocasas, please find the definition attached. For control, there's a python script at the end sending data directly to the ros server, but I don't think is using ur-rtde.
Thanks in advance, Eduardo

04_plan_motion_CTR 02.zip