I'm using Moveit Commander to drive my robot, (Rethink Sawyer, following this tutorial) and I'm having trouble getting the pose orientation to apply. Here is the code:

  def move_to_point (self, position, orientation):
    pose = Pose()
    pose.position.x = position[0]
    pose.position.y = position[1]
    pose.position.z = position[2]
    pose.orientation.x = orientation[0]
    pose.orientation.y = orientation[1]
    pose.orientation.z = orientation[2]
    pose.orientation.w = orientation[3]
    self.group.clear_pose_targets()
    self.group.set_pose_target(pose)
    try:
        plan = self.group.go(wait=True)
        #result = self.group.execute(plan, wait=True)
        self.group.stop()
        self.group.clear_pose_targets()
        return plan
    except moveit_commander.MoveItCommanderException as err:
        print err

Regardless of what I set as the orientation, the robot's end-effector moves to [0,0,0,1] as it's final orientation. Investigating further by looking at the /move_group/goal topic I can see that it sets the two following constraints:

   constraint_region: 
          primitives: 
            - 
              type: 2
              dimensions: [0.0001]
          primitive_poses: 
            - 
              position: 
                x: 0.35
                y: -0.3
                z: -0.05
              orientation: 
                x: 0.0
                y: 0.0
                z: 0.0
                w: 1.0
          meshes: []
          mesh_poses: []
        weight: 1.0
    orientation_constraints: 
      - 
        header: 
          seq: 0
          stamp: 
            secs: 0
            nsecs:         0
          frame_id: "base"
        orientation: 
          x: 0.0
          y: 1.0
          z: 0.0
          w: 0.0
        link_name: "right_hand"
        absolute_x_axis_tolerance: 0.001
        absolute_y_axis_tolerance: 0.001
        absolute_z_axis_tolerance: 0.001
        weight: 1.0

Notice in the primitive_poses field there is an orientation field that is set to [0,0,0,1] (which I don't want) and the robot seems to be ignoring the constraint set in the orientation_constraints field.

Thanks for the help.