Moveit path planning

Hello All,

I have a silly question. Sorry.
In the moveit tutorials, they talk about two types of planning.

The first one by calling move_group.plan()
The other planning is called Cartesian path, done by calling move_group.computeCartesianPath()

Can someone please explain the difference between the two and went to use each?

Thank You :slight_smile:

Hi @nihalabdu1,
move_group.plan() tries to find a possible trajectory to reach the specified pose.

move_group.computeCartesianPath() creates a trajectory, connecting your waypoints in cartesian space with straight lines.

This is a very good resource for the movegroup api

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