Constraining Joint angles of a UR5 arm while motion planning in moveit

Question

I'm using ROS noetic on ubuntu 20.04.3. I have to move my robotic arm towards white coloured object (goal) but while planning the moveit plans a path including weird trajectories and I read somewhere that to avoid this we can constraint the end effector joint angles but I'm not sure how to do this as I'm a beginner to this. Any help would be appreciated

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Originally posted by Dobit on ROS Answers with karma: 3 on 2022-01-23

Post score: 0

Answer 1

This tutorial is close to what you want:

https://ros-planning.github.io/moveit_tutorials/doc/move_group_interface/move_group_interface_tutorial.html#planning-with-path-constraints

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Originally posted by AndyZe with karma: 2331 on 2022-01-24

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by Dobit on 2022-01-27:
Thank you for your help. The link was really helpful.