Can we use constraint planning with multi-arm? #354
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I am trying to make multi-arm trajectory for avoid collision between robots. And it often moves widely to avoid each other robots. To lower risks, I want to make unless the tool's orientation should be fixed. If I set PoseCostMetric, then can it be applied to all end tools?
And I also want to know that I can apply different PoseCostMetric between tools.
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