• This application will demonstrate how to use the various components in the Descartes library for planning and executing a robot path from a semi-constrained trajectory of points.


  • Become familiar with the Descartes workflow.
  • Learn how to load a custom Descartes RobotModel.
  • Learn how to create a semi-constrained trajectory from 6DOF tool poses.
  • Plan a robot path with a Descartes Planner.
  • Convert a Descartes Path into a MoveIt! message for execution.
  • Executing the path on the robot.