I am trying to do some trajectory planning in task space. I want the robot arm to move in three modes. 1- to a specified point [x, y, z] in space (point to point) 2- move along a direction in 3D space. 3- combination of both. For mode 1 I don't have problems. but for moving along a direction (toward infinity, until something conditions are met), is there any method to do that? What about the combination of both (e.g going to a specified point in X direction and going along a direction in YZ plane). by XYZ, I mean the coordinates from the base frame.