MoveIt orientation constraint causes arbitrary motion
I'm using the MoveIt Python interface. I've noticed that adding an orientation constraint. When I attempt to add a constraint so that the gripper maintains an upright orientation, not only does the gripper not maintain an upright orientation, it also starts moving arbitrarily.
https://gist.github.com/dqii/2c9c0914... Here's my code
https://www.youtube.com/watch?v=MgorL... Here's a video... where you see that it first moves from a to b smoothly, and once the orientation constraints are added, its movements are jerky.
Is this typical of MoveIt? Am I missing something basic?
Hey, I am facing the same issue. I tried to make the end-effector level with the orientation constraint. The path is jerky and the end effector often flips in the path.
In ompl_planning.yaml:
for constraints:
Any advice is welcome and thanks!