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How to define position constraint msgs in moveit

Hi everyone,

I am trying to define a position constraint msg in moveit, but I am getting the following error during planning:

Exception caught executing *next* adapter 'Fix Start State In Collision': Bounds for real vector space seem to be incorrect (lower bound must be stricly less than upper bound). Sampling will not be possible.

I am wondering whether I have done something wrong in the definition of the constraint, so let me ask a few things to clarify:

  1. The header of the constraint defines the frame in which the BoundedVolume pose is defined, right?
  2. The target_point_offset is the translation to the goal pose of the controlled link expressed in the current link frame, right?

If you have any other insight on this error, please tell me...

How to define position constraint msgs in moveit

Hi everyone,

I am trying to define a position constraint msg in moveit, but I am getting the following error during planning:

Exception caught executing *next* adapter 'Fix Start State In Collision': Bounds for real vector space seem to be incorrect (lower bound must be stricly less than upper bound). Sampling will not be possible.

I am wondering whether I have done something wrong in the definition of the constraint, so let me ask a few things to clarify:

  1. The header of the constraint defines the frame in which the BoundedVolume pose is defined, right?
  2. The target_point_offset is the translation to the goal pose of the controlled link expressed in the current link frame, right?

If you have any other insight on this error, please tell me...