Move along linear paths
=======================

Move the end-effector along a straight line, then follow a sequence of linear
segments down, back up, and finally to the starting pose.

Unlike :doc:`kinematics-move-pose`, linear moves keep the tool on a straight
path between waypoints. The planner does not reroute around obstacles — use
pose moves when you need collision-aware motion instead.

.. note::

   Linear paths can require high joint speeds or accelerations depending on
   the robot's configuration. If planning fails because a joint limit would
   be exceeded, retry with a lower ``speed_scaling`` value.

.. tab-set::
    :sync-group: sdk-language

    .. tab-item:: Python
        :sync: python

        .. literalinclude:: scripts/kinematics-move-linear.py
           :language: python

    .. tab-item:: TypeScript
        :sync: typescript

        .. literalinclude:: scripts/kinematics-move-linear.ts
           :language: typescript