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Constraining Joint angles of a UR5 arm while motion planning in moveit [closed]

asked 2022-01-23 10:07:00 -0500

Dobit
3 ●1 ●1 ●2

I'm using ROS noetic on ubuntu 20.04.3. I have to move my robotic arm towards white coloured object (goal) but while planning the moveit plans a path including weird trajectories and I read somewhere that to avoid this we can constraint the end effector joint angles but I'm not sure how to do this as I'm a beginner to this. Any help would be appreciated

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