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Do you mean the ability to follow a trajectory? That would be performed by your own robot's controllers that listen to a "control_msgs::FollowJointTrajectoryAction" actionlib message. This action is sent from MoveIt.

Or are you looking at doing time parameterization of a list of waypoints, to generate velocities, accelerations and wait times for wach waitpoint? This can be accomplished by MoveIt.

I don't understand how that relates to the second half of your question about constraints though, I'm afraid.