plan_cartesian_space_mtc Namespace Reference

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

Detailed 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

Function Documentation

create_pose_stamped()

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

Create a PoseStamped message with given position and identity orientation.

main()

plan_cartesian_space_mtc.main

(

)

Plan a Cartesian-space trajectory using MTC with PathIK.