Can I add constraints in trajopt?

[sm3304love]

Hello,

I want to use TrajOpt in my project and have some questions.

I would like to know how I can add constraints, such as joint velocity and Cartesian velocity, to my plan profile.

I noticed the createJointVelocityConstraint function in trajopt_ifopt_utils.h, but I couldn't find any examples demonstrating how to set a joint velocity constraint using createJointVelocityConstraint.

Additionally, I couldn't find any function in trajopt_ifopt_utils.h to set Cartesian velocity constraints. Is there no option to set Cartesian velocity constraints in TrajOpt?

Thank you.