Implementing path constraints for Moveit in python

Question

I have a 6 DOF arm and it has been interfaced with moveit. Now I want to move the arm from point A to point B with one of the joint having a orientation constraint throughout the path. There are already solutions in C++ but I need a solution in python. Has anyone already tried in python? Kindly help me to move ahead.

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Originally posted by Gokul on ROS Answers with karma: 243 on 2016-12-08

Post score: 0

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Original comments

Comment by Arpitsoni on 2016-12-12:
hi. did u made manipulator by ur own or bought standard one???

Comment by Gokul on 2016-12-12:
I made a manipulator on my own.

Answer 1

The MoveGroupCommander (one of the python classes for interfacing with MoveIt) provides a set_path_constraints function that should set the constraints for the next planning performed through that class.

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Originally posted by v4hn with karma: 2950 on 2016-12-09

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by Gokul on 2016-12-12:
I had a look at that but do you have any sample code implemented that previously.

Comment by v4hn on 2016-12-12:
I'm not aware of tutorial code that demonstrates this, no. You are invited to contribute some here. :-)