Orientation changes while following waypoints in move_group python interface

moveit / moveit_tutorials

A sphinx-based centralized documentation repo for MoveIt

https://moveit.github.io/moveit_tutorials/

BSD 3-Clause "New" or "Revised" License

463 stars 692 forks source link

Orientation changes while following waypoints in move_group python interface #804

Open iameijaz opened 7 months ago

iameijaz commented 7 months ago

Description

I am trying to make the robotic arm move like a roller which goes on a straight path, then goes up in z-axis and then back to main position to start rolling again.

Your environment

ROS Distro: Noetic
OS Version: Ubuntu 20.04
Source build

How can I make sure that the orientation of the end effector stays constant while it follows the cartesian path using the waypoint method mentioned in the move_group_python interface script.

welcome[bot] commented 7 months ago

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.