Add ability to specify path constraints
egordon opened this issue · comments
Currently only goal constraints are considered.
Add set_path_constraint(Constraints).
Just expose the raw MoveIt2 constraint API for now. We can add helper functions later.
This allows for:
- Orientation Constraints: e.g. keep a robot link withing X degrees of level
- Position Constraints: keep a robot link within a bounded area
- Joint Constraints: e.g. prevent the planner from considering certain joint values
- Visibility Constraints: keep a link within the view frustrum of a sensor location
Solved in egordon/path