Hello,

As a part of a university project, me and several fellow students have been tasked with implementing a planning constraint for the Care-o-Bot 4 platform. In order to stop the robot's arm from moving in front of the base laser sensor, we came to the conclusion that implementing a constraint stopping trajectories which'd take the arm below a certain y-level in the base's frame would work. However, we quickly discovered that the documentation for how to accomplish this was confusing. Our instructor suggested posting a question here.

We have considered modifying a state sampler, however we quickly came to the conclusion it is too complex for us to accomplish with how much time we have. The tutorials suggest using a template to form a constraint sampler, but we have had no luck finding it. Any and all help would go a long way, thank you.