Scene Graph
/World
GroundPlane
Franka
panda_joint1
panda_joint2
panda_joint3
panda_joint4
panda_joint5
panda_joint6
panda_joint7
panda_hand
panda_finger_left
panda_finger_right
PickObject (Cube)
PlaceTarget
DomeLight
Task Config
Pick Object Position (m)
X0.500
Y0.200
Z0.025
Place Target Position (m)
X0.500
Y-0.300
Z0.025
Robot Base Position (m)
X0.000
Y0.000
Z0.000
1.0×
Joint States (rad)
Inverse Kinematics
DLS / Jacobian
SolverDamped Least Sq.
Damping λ0.01
Max Iterations100
Tolerance1e-4 m
IK Status—
Iterations Used—
Pos. Error—
Target Pose: waiting...
Path Planning
RRT-Connect
PlannerRRT-Connect
Collision CheckFCL / PhysX
Waypoints—
Path Status—
Segment—
Traj. Time—
Console Log