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