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Implementing path constraints for Moveit in python

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

Gokul

243 ●11 ●15 ●21

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

v4hn
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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 ( 2016-12-11 23:56:55 -0500 )edit

I made a manipulator on my own.

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

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1 Answer

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

v4hn
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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.