plan_cartesian_space_mtc Namespace

Definition

namespace plan_cartesian_space_mtc { ... }

Functions Index

	create_pose_stamped (x, y, z, frame_id="world")
	main ()

Description

Example demonstrating Cartesian-space motion planning using MoveIt Task Constructor (MTC).

This script shows how to:
- Create a RobotModel from URDF and SRDF files
- Set up a Task with PathIK stage for Cartesian planning
- Generate Cartesian waypoints along a straight line path
- Execute planning entirely offline without ROS topics or services

Functions

create_pose_stamped()

plan_cartesian_space_mtc.create_pose_stamped (x x, y y, z z, frame_id frame_id="world")

Create a PoseStamped message with given position and identity orientation.

Definition at line 26 of file plan_cartesian_space_mtc.py.

main()

plan_cartesian_space_mtc.main ()

Plan a Cartesian-space trajectory using MTC with PathIK.

Definition at line 37 of file plan_cartesian_space_mtc.py.

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The documentation for this namespace was generated from the following file:

• plan_cartesian_space_mtc.py

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