Optimizing Joint Constraints and Replication Strategies in MoveIt2 Using Python: Insights from draw_circle.cpp

Thank you for inspiring us with your work! Regarding the draw_circle.cpp file, could you explain how you specify constraints for joints? Additionally, how do you determine appropriate values for these constraints? I aim to replicate this approach for another robot using MoveIt2 and Python.

Lastly, do you provide any courses or resources specifically for MoveIt2?