set a joint contrainst on goal target

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Hello,

I use Moveit on Franka ros. I try to set a Joint constrainst on goto goal. It seems the JointContrainst seems not to be used.

Here is the code I use:

def set_robot_joint_constrainst(self):
    constraints = Constraints()
    constraints.name = "Keep gripper horizontal"

    current_joint = self.move_group.get_current_joint_values()

    # Create an orientation constraint for the right gripper
    jcm = JointConstraint()
    jcm.position = 0.0;
    jcm.tolerance_above = 0.3;
    jcm.tolerance_below = -0.3;

    joint_constraint_list = []
    joint_constraint_list.append(jcm)

    constraint_list = moveit_msgs.msg.Constraints()
    constraint_list.name = 'test'
    constraint_list.joint_constraints = joint_constraint_list
    self.move_group.set_path_constraints(constraint_list)

And the code to generate pose target:

 def set_robot_position(self, pose_info):
        pose_goal = geometry_msgs.msg.Pose()
        pose_goal.position.x = pose_info["position"][0]
        pose_goal.position.y = pose_info["position"][1]
        pose_goal.position.z = pose_info["position"][2]

        pose_goal.orientation.x = pose_info["orientation"][0]
        pose_goal.orientation.y = pose_info["orientation"][1]
        pose_goal.orientation.z = pose_info["orientation"][2]
        pose_goal.orientation.w = pose_info["orientation"][3]

        self.move_group.set_start_state_to_current_state()
        self.move_group.set_pose_target(pose_goal)

        self.move_group.set_max_velocity_scaling_factor(0.2)

        self.move_group.go(wait=True)
        self.move_group.stop()
        self.move_group.clear_pose_targets()
        current_pose = self.move_group.get_current_pose().pose

I use a goto python function in MoveGroupCommander to set the targer ( position and orientation of the end effector). But in real the first joint is doing a strange move. This is the reason why I want to constraint it position between value.