How to plan and execute movement in one direction?
I'm trying to move my end-effector in just the direction of the red arrow on the interactive marker. When I've determined my goal position (which is just in a linear direction of the red arrow of the interactive marker) the execution of this goal seems to just get the robot arm into the goal position meaning it curves a little bit in the path to get the end-effector where it needs to be, rather than just moving linearly in the direction of the red arrow similar to how I did it when I manually move the arm itself.
I want to do this because I'm moving my robot arm into a planned trajectory for drilling, then i execute the drilling path which should move the robot end-effector in a linear direction to drill into a spine, and I dont want the execution of my drilling path to curve otherwise there would be obvious issues with the drilling of this hole.
