Hi everyone! I'm currently working on a liquid handling project using ROS2 and MoveIt. I've got a 7-DOF robotic arm, and I'm trying to figure out how to constrain the orientation of the end effector. Specifically, I want to lock the pitch and yaw, but I'd like the roll to remain free. Would using Cartesian paths work for this setup?
3 Answers
No problem, I get it! I'll check out those specialized forums for more support.
You can definitely use the `orientation_constraint` in MoveIt for this. It allows you to lock the pitch and yaw while keeping the roll unrestricted. While Cartesian paths are helpful for overall motion planning, the orientation constraint is what will give you tight control over the end effector's positioning.
I’ve had some trouble with the orientation constraint myself, but I’ll give it another shot. If you find any alternatives, please share!
Just a heads-up, for really specific issues like this, you might get better insights in more focused forums related to robotics. But good luck with your project!
Totally agree! The orientation constraint is key, and make sure you set tight tolerances for pitch and yaw while keeping roll open. MoveIt will take care of path planning under those rules.