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[MoveIt!] Set goal orietation tolerance when using pick action

asked 2018-07-17 09:46:15 -0500

jramadeu gravatar image

I'm trying to use the pick action server to pick an object on the scene and it fails with the following message:

Orientation constraint violated for link 'gripper_link'. Quaternion desired: 0.000251 0.368719 -0.000620 0.929541, quaternion actual: 0.346082 0.654111 -0.471797 0.479346, error: x=1.426828, y=0.289044, z=1.100188, tolerance: x=0.010000, y=0.010000, z=0.010000

That said I tried to use the set_goal_orientation_tolarance() from python moveit commander. Unfortunately, it doesn't affect the pick action server, as the same error occurs. As complicated as it gets on this old post mentions

"setGoalOrientationTolerance only affects pose goals, but not joint (obviously) nor pickup and place goals"

So, how can I set the orientation tolerance for pick and place actions ?

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answered 2019-02-19 03:42:01 -0500

fvd gravatar image

This might change in future implementations, but it looks like at the moment you cannot set a tolerance because the pick/place pipeline uses computeCartesianPath internally, which does not take tolerances as input parameters.

As a workaround, you could generate grasps in more orientations and pass a vector of Grasp messages to the pick function. Depending on your needs, this might be sufficient. Other solutions I can think of would only get more complex.

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Asked: 2018-07-17 09:46:15 -0500

Seen: 637 times

Last updated: Feb 19 '19