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tutorials:intermediate:collisions_and_constraints [2015/06/05 12:05] – Added constraints content. mpomarlantutorials:intermediate:collisions_and_constraints [2015/06/05 12:08] – [Using kinematic constraints during planning] mpomarlan
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 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.
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 +You can also define path constraints for **compute-cartesian-path** and **move-link-pose**, as well as imposing constraints for state validity checking.
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 +== Next ==
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 +Coming soon!