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You do not neceserily create an explicit C-Space representation which you sample. You have to choose, if you want to create your path in axis space or operational space (Cartesian space). This is a design choice and has some influence on the final shape of the trajectory. I am going to assume, that you plan in operational space (Cartesian-like). You sample ...


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The best way to debug geometry related applications is by using plots. First of all, plot the initial configuration, with robot TCP, cube initial position, cube final position. As these are all input values all should be ok. After this, plot the generated trajectory. Is this what you are expecting it to be? does it link the start end end points exactly? You ...


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