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Moveit2: How to limit joint rotation

asked 2023-06-30 10:30:16 -0500

JoshC
1 ●1 ●2 ●3

updated 2023-06-30 10:32:27 -0500

I am using c++ moveitGroupInterface.plan() to move the robot. I am awared that there might be multiple planning results giving the same target pose.

For example, giving the same target pose (x,y,z,w),

I want the robot looks like this

but I got this

How can I limit the last joint to ‘face down’ ?

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Asked: 2023-06-30 10:30:16 -0500

Seen: 74 times

Last updated: Jun 30 '23

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