Hello,I'm working with baxter and i'm using ros and movit in order to manipulate an articulated object. Now i want add some contraint on the joints of the baxter's arms in order to reach in better way the object. Let's say that i want, for example, that the joint of baxter "rightlowershoulder" rotate just inside of some limited range.

/i add this part. the values are totally random but in any case i think that this approach is not correct./ geometrymsgs::PoseStamped enrico; std::vector tolerancepose(3, 100); std::vector toleranceangle(3, 100); enrico.pose.position.x = 0.32; enrico.pose.position.y = -0.25; enrico.pose.position.z = 0.65; enrico.pose.orientation.w = 1.0; moveitmsgs::Constraints posegoal2 = kinematicconstraints::constructGoalConstraints("rightlowershoulder", enrico, tolerancepose,toleranceangle); /*until here rootactiondescriptor.gripperpose.pose.position.z -= 0.11; childactiondescriptor.gripperpose.pose.position.z -= 0.11; // movegroup.setPathConstraints(posegoal2) is what i add in order to have a constraint movegroup.setPathConstraints(posegoal2); movegroup.clearPoseTargets(); movegroup.setPoseTarget(rootactiondescriptor.gripperpose, rootactiondescriptor.gripperframe); movegroup.setPoseTarget(childactiondescriptor.gripperpose, childactiondescriptor.gripperframe); movegroup.setStartStateToCurrentState(); if (!movegroup.move()) { ROS_ERROR("[PACO increase action]: unable to reach target positions. 2"); exit(); return false; }

This code come from :https://github.com/EmaroLab/paco_actions Thank you for you help!