If Constrained Space is enabled, the robot will try to reach through a narrow opening or work in a cluttered environment. This setting forces to use the algorithm in joint space (rather than cartesian space) which ensures that the configuration tested is the configuration used. This is critical for robot morphologies where cartesian poses might result in multiple potential joint configurations, causing issues during path generation. By forcing joint space, the system ensures that the identified path is unique and collision-free.

Note: This may slightly increase the initial calculation time in the event where the path is very tight.

Working in a constrained space