Hello: I am looking for end-effector pose constrained planning for the manipulator. I know that such functionalities have been provided in "MoveIt!" where you set your kinematics constraints and then give command to plan a path.
I believe that this type of end-effector constrained planning (in MoveIt!) is done in end-effector cartesian degree of freedom using Inverse Kinematics.
Can anyone please point me to: where this task-constrained code sits in OMPL (as MoveIt uses OMPL), or any pointer to the research paper of this implementation in MoveIt!
I want to understand how it is done and what are the steps involved in ROS implementation.
Thanks.
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