set orientation and position goal tolerance

asked 2021-01-07 13:54:09 -0600

marcone gravatar image

I have a 4 dof robot and I need to move its end effector in the environment, but I do not know the final orientation od the robot. So the planning solver do not find the solution for small tolerances (move_group.set_goal_tolerance(x). I would like the solver to consider only the position, not the orientation, so I would like to ask if is there a way to set the tolerance for the position and for orientation separately, or if is it possible to modify the existing solver as a way to not consider the orientation of the end effector ?

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