Approach to set twice constrained motions

[linhy97]

Hello，i read the example in “Grasp Approach Vector” section and i wonder if there exists any approach or parameters to set twice constant in the motion planning process？In my situation，the robot arm needs to grasp an object and place it to another place. I want to split the whole trajectory into two part without stopping at the offset postion:

Firstly, grasp the object and move it along z-axis to an offset position, for example: grasp point (x,y,z) to offset point (x,y,z+0.2m)
Secondly, use the create_grasp_approach_metric() function to place the object, setting an middle point.

Is there any method to set two offset position instead of stopping at the (x,y,z+0.2m) point ?