Description
When I perform the grasping and placing actions, I hope that the clamped object will not tilt during the process of moving to the placing position. Therefore, I added path constraints in theconnetstage, which led to the planning always failing. I need to consult everyone, so I used the panda robot to simulate my process of setting path constraints, and the result was also a planning failure.
I use this demo reproduct problem. I only added orientation constraints in the connect stage. The following is my connect stage code and my understanding of direction constraints.
{
moveit_msgs::msg::OrientationConstraint &c =
path_constraints.orientation_constraints[0];
c.link_name = "panda_hand";
c.header.frame_id = "panda_link0";
c.orientation.w = 1.0;
//When grasping object,X axis is upright,
//so the X axis could be rotated,it is tolerancec omplete freedom,ohter tolerances shouble be constrained
c.absolute_x_axis_tolerance = M_PI;
c.absolute_y_axis_tolerance = M_PI / 10;
c.absolute_z_axis_tolerance = M_PI / 10;
c.parameterization = moveit_msgs::msg::OrientationConstraint::XYZ_EULER_ANGLES;
c.weight = 1.0;
}When an object is being clamped, the X-axis of panda_hand is upward. I don't want the X-axis of panda_hand to deviate during the movement process. Therefore, I think it is not allowed to rotate significantly around the y and z axes, but it can rotate freely around the X-axis. My code is written based on this idea.
This has led to its inability to plan successfully.
Why is this?