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Implementing path constraints for Moveit in python

asked 2016-12-08 07:14:35 -0500

Gokul gravatar image

updated 2016-12-09 09:57:02 -0500

v4hn gravatar image

I have a 6 DOF arm and it has been interfaced with moveit. Now I want to move the arm from point A to point B with one of the joint having a orientation constraint throughout the path. There are already solutions in C++ but I need a solution in python. Has anyone already tried in python? Kindly help me to move ahead.

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hi. did u made manipulator by ur own or bought standard one???

Arpitsoni gravatar image Arpitsoni  ( 2016-12-11 23:56:55 -0500 )edit

I made a manipulator on my own.

Gokul gravatar image Gokul  ( 2016-12-12 04:11:48 -0500 )edit

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answered 2016-12-09 10:04:37 -0500

v4hn gravatar image

The MoveGroupCommander (one of the python classes for interfacing with MoveIt) provides a set_path_constraints function that should set the constraints for the next planning performed through that class.

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I had a look at that but do you have any sample code implemented that previously.

Gokul gravatar image Gokul  ( 2016-12-12 04:13:59 -0500 )edit

I'm not aware of tutorial code that demonstrates this, no. You are invited to contribute some here. :-)

v4hn gravatar image v4hn  ( 2016-12-12 09:57:26 -0500 )edit

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Asked: 2016-12-08 07:14:35 -0500

Seen: 842 times

Last updated: Dec 09 '16