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Hi, We're working on Panda robot, and we'd like to make moves with semi-constrained end-effector. We try to use your code with PickNik package (https://github.com/PickNikRobotics/descartes_capability). The robot's arm (in Gazebo) seems to work fine during most of the move but in some points the end-effector rotates 360 degrees, even if there is no obstacle forcing such a move.
We try to run this program: https://github.com/PickNikRobotics/descartes_capability/blob/master/scripts/example_cartesian_command.py - with constraints suggested here
We've also tried setting path constraints: self.move_group.set_path_constraints(constraint)
ROS distro: Melodic
Do you know how can we force orientation constraints?
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