how to complement two link constrain

asked 2016-12-01 22:06:47 -0500

clark_txh gravatar image

updated 2016-12-02 00:11:54 -0500

gvdhoorn gravatar image

I can complement a link constrain using move_group interface.

but when I try to complement two link constrain, I get error follow.

[ INFO] [1480650717.131249443]: Orientation constraint satisfied for link 'left_middle1_Link'. Quaternion desired: 0.784223 0.425559 -0.247735 0.377519, quaternion actual: 0.784137 0.425735 -0.248081 0.377274, error: x=0.000526, y=0.000242, z=0.000733, tolerance: x=0.001000, y=0.001000, z=0.001000
[ INFO] [1480650717.131409511]: Orientation constraint satisfied for link 'right_middle1_Link'. Quaternion desired: 0.660719 0.638092 -0.111160 -0.379383, quaternion actual: 0.660582 0.638419 -0.110896 -0.379150, error: x=0.000614, y=0.000227, z=0.000754, tolerance: x=0.001000, y=0.001000, z=0.001000
[ INFO] [1480650717.131752883]: Orientation constraint satisfied for link 'left_middle1_Link'. Quaternion desired: 0.784184 0.425543 -0.247832 0.377554, quaternion actual: 0.784137 0.425735 -0.248081 0.377274, error: x=0.000521, y=0.000031, z=0.000668, tolerance: x=0.100000, y=0.100000, z=0.100000
[ INFO] [1480650717.131914025]: Orientation constraint violated for link 'right_middle1_Link'. Quaternion desired: 0.761624 0.617040 0.195333 -0.032181, quaternion actual: 0.660582 0.638419 -0.110896 -0.379150, error: x=0.957439, y=0.001078, z=0.001693, tolerance: x=0.100000, y=0.100000, z=0.100000

what should I do next?

advance thanks every help.

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