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.