Moveit Jointspace Constraints and Python

MoveIt
1

we’ve been doing a bunch of path planning with a ur10 using the standard ompl solver in moveit.
we can successfully add blocks and planes to the environment to shape the path but really we’d like to be able to add joint space constraints.

i’ve found this c++ doc. is there such a feature in the python tools? if so, anybody have some example code or reference materials?
http://docs.ros.org/indigo/api/moveit_core/html/classkinematic__constraints_1_1JointConstraint.html

Or possibly another method for achieving something like the “water glass stays vertical” within a given point to movement???

setup:
gazebo moveit rviz ur10 ubuntu 16.04 python

thanks!
danjo

2

  1. This kind of question should be on answers.ros.org I think.

  2. Does this tutorial solve your problem? The correspondig set_path_constraints function exists in the Python MoveGroupCommander.

3

This is a cross-post of moveit joint space constraints in python on ROS Answers.