Thanks @VictorLamoine ! Do we have any example code for this? If we can set up a robot model with ikfast configured, I believe _descartes_ won't have any difficulty working with 6dof + turntable case. --- [Visit Topic](https://discourse.ros.org/t/path-planning-with-external-axis/4451/12) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: