Hi, everyone,

I'm using moveit default planner to plan the robotic arm. The robot arm can approach desired position without collision. But it will collide with planning scene objects if I add orientation constraint.

So how to approach to certain position with fixed orientation and without getting collide with planning scene object? Am I missing something here?

Thanks for any help.

Code examples of adding constraints:

move_group.set_pose_target(pose_goal)

constr = Constraints()
oc = OrientationConstraint()
oc.header.frame_id = move_group.get_planning_frame()
oc.link_name = move_group.get_end_effector_link()
oc.absolute_x_axis_tolerance = 0.05
oc.absolute_y_axis_tolerance = 0.05
oc.orientation = curr_pose.orientation
oc.weight = 1.0
constr.orientation_constraints.append(oc)
move_group.set_path_constraints(constr)

self.arm_torso_move_group.go(wait=True)
self.arm_torso_move_group.stop()
self.arm_torso_move_group.clear_pose_targets()