plan_ik_to_pose_mtc Namespace Reference

Functions
	main ()

Detailed Description

Example: IK-based Motion Planning with MoveIt Task Constructor (MTC)

This example demonstrates how to:
1. Programmatically register a custom PoseIK solver
2. Configure IK parameters directly in Python
3. Create an MTC task that computes IK for a target Cartesian pose
4. Plan a collision-free trajectory to reach the IK solution using ProRRT planner
5. Execute planning entirely offline without requiring live ROS topics

The task pipeline consists of:
- FixedState: Provides the initial robot configuration
- Connect: Propagator stage that plans paths between states
- GeneratePose: Generates the target Cartesian pose
- ComputeIK: Computes inverse kinematics using the registered PoseIK solver

This demonstrates the integration of PoseIK and ProRRT with MTC.

Function Documentation

main()

plan_ik_to_pose_mtc.main

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Plan to a Cartesian target pose using MTC with PoseIK solver and ProRRT planner.