After motion planning is successfully written following Moveit! tutorials, the resulting motion plan is sometimes strange, for example: the end effector goes in the -z direction of the world frame which is not possible in reality. in order to prevent this position constraints should be added, however i dont quite understand how to fill the Position constraint msg since it has moveit_msgs/BoundingVolume which contains shape_msgs/SolidPrimitive[] to be added.
I dont understand should i create some primitives and add them to all of the negative z direction of the world frame or is there something else i dont understand ??
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