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path_constraints vs trajectory_constraints in motion_plan_request

asked 2018-09-26 10:48:06 -0500

adroit89 gravatar image

updated 2018-09-26 10:49:26 -0500

Hi, As I know, you may need to add constraint to the path which for example an arm wants to move along an area to keep a glass of water in a specific direction. I see there are two properties in motion_plan_request in MoveIt which one of them is path_constraint and the other is trajectory_constraint. In my mind the name and the type of them seem to be the same in concept. I want you to explain me what is the difference between these two. I also cannot find an example which uses trajectory_constraints for a motion planning test.

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answered 2020-05-22 04:13:35 -0500

Rufus gravatar image

From here and here, it seems that the function of trajectory_constraints hasn't been clearly defined yet. Hence I suppose it would be safe to say that you should be using path_constraints until that discussion gets closed.

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Asked: 2018-09-26 10:48:06 -0500

Seen: 468 times

Last updated: May 22 '20