Comments (2)
This questions has been here a while, but for future generations:
The position constraint will keep the center of the specified link frame inside the constraint region. Optionally, you can specify an offset. Then it is not the center of the link frame, but the offset point, expressed relative to the link frame, that has to stay inside the constraint region.
It is implemented here.
This seems usefull to me when you want to constrain the tip of an end-effector. If the link frame of the end-effector is not centered at it's tip, and there is no other link defined in the URDF at the tip of the end-effector, then you can use this offset.
from moveit_msgs.
from moveit_msgs.
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from moveit_msgs.