Introduction¶
Goal¶
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.
Objectives¶
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.