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tutorials:intermediate:collisions_and_constraints [2015/06/05 12:08] – [Using kinematic constraints during planning] mpomarlan | tutorials:intermediate:collisions_and_constraints [2015/06/05 13:20] – [Using kinematic constraints during planning] mpomarlan | ||
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(We leave some tolerance in the axis to help the sampler; a too strict constraint may be impossible to satisfy anyway.) | (We leave some tolerance in the axis to help the sampler; a too strict constraint may be impossible to satisfy anyway.) | ||
- | Now look in the RViz window. You should see that the planned path keeps the end effector in the same orientation while it moves around the cube. | + | Now look in the RViz window. You should see that the planned path keeps the end effector in the same orientation while it moves around the cube. (Author' |
You can also define path constraints for **compute-cartesian-path** and **move-link-pose**, | You can also define path constraints for **compute-cartesian-path** and **move-link-pose**, |