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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 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's note: actually, there seems to be a MoveIt! bug here as the trajectory it returns is invalid-- it always attempts to pass through the cube. Bug report in progress.) 
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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 == 
 + 
 +Coming soon!