plan_cartesian_space Namespace Reference

Functions
	main ()

Detailed Description

Example demonstrating Cartesian-space motion planning without ROS connectivity.

This script shows how to:
- Create a RobotModel from URDF and SRDF files
- Set up a PlanningScene with a specific robot configuration
- Generate Cartesian waypoints along a straight line path
- Compute inverse kinematics along the path using path_ik
- Execute planning entirely offline without ROS topics or services

Function Documentation

main()

plan_cartesian_space.main

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Plan a Cartesian-space trajectory for a Panda robot arm.