Update usage of constrained state space

doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst

@@ -14,7 +14,7 @@ The interface currently only supports a single position or orientation constrain
 How to Configure OMPL to use Constrained Planning
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-OMPL reads configurations parameters from a file called :code:`ompl_planning.yaml`. This guide adds the required parameters directly in the launch file, but they can also be set in the yaml file. This guide uses the Panda robot, for which this file can be found :moveit_resources_codedir:`here <panda_moveit_config/config/ompl_planning.yaml>`. Add a parameter to your robot's ``ompl_planning.yaml`` to tell OMPL to plan in a constrained state space by setting :code:`enforce_constrained_state_space` to ``true``. In addition, if the parameter `projection_evaluator <../../examples/ompl_interface/ompl_interface_tutorial.html#projection-evaluator>`_ was not yet specified, we also need to add it. The projection evaluator is used to help with discretizing the state space with high dimensionality by using projections from the state space to a low dimensional Euclidean space. You can read more about it `here <https://ompl.kavrakilab.org/projections.html>`_. In general, using the first couple joints works pretty well.
+OMPL reads configurations parameters from a file called :code:`ompl_planning.yaml`. This guide adds the required parameters directly in the launch file, but they can also be set in the yaml file. This guide uses the Panda robot, for which this file can be found :moveit_resources_codedir:`here <panda_moveit_config/config/ompl_planning.yaml>`. OMPL's constrained planning will be used by default if you have exactly one position or one orientation constraint. To use the constrained state space in other scenarios, add a parameter to your robot's ``ompl_planning.yaml`` to tell OMPL to plan in a constrained state space by setting :code:`enforce_constrained_state_space` to ``true``. In addition, if the parameter `projection_evaluator <../../examples/ompl_interface/ompl_interface_tutorial.html#projection-evaluator>`_ was not yet specified, we also need to add it. The projection evaluator is used to help with discretizing the state space with high dimensionality by using projections from the state space to a low dimensional Euclidean space. You can read more about it `here <https://ompl.kavrakilab.org/projections.html>`_. In general, using the first couple joints works pretty well.
 
 .. code-block:: yaml