Motion Planning

SUMMARY

Motion Planning computes feasible robot trajectories between start and goal states under kinematic and planning constraints.

This skill is essential for safe path generation, coordinated motion execution, and production-grade robotic task automation.

SUPPORTED ROBOTS

Available on all supported manipulators.

UNITS

Joint waypoints in degrees; Cartesian targets in meters and Euler XYZ degrees.

Coming Soon!

Detailed API usage, examples, planner options, and deployment guidelines for Motion Planning are coming soon.

The Explanation of the Code

The planner will return a list of joint waypoints in degrees (one vector per timestep, ordered base to wrist) that downstream set_joint_positions or servo_joint calls consume directly. Cartesian targets are accepted at the input side; the planner runs IK internally and emits the same joint-space waypoint list.