Planning with constraints

[bmdyrdal]

Hi!

I'm trying to plan using constraints as I don't want the end effector to roll or pitch, only yaw.

I've so far tried using joint constraints or combination of position and orientation constraints. I'm using cuMotion as the planner with move group interface.

It looks like it doesn't use the constraints in the planning as it calculates the motion, but in the post-processing it find all the positions where it violates the constraints?

Any ideas?

Best regards,

[DaniGarciaLopez]

Any updates on this? I'm also interested to use orientation constraints