how to keep z axis rotate in a range?

[vegfood]

Problem: I want to use the ur robot to hold a glass of water and move it from a place to another, in the process i don't want the water spit , so the z axis can't rotate too much, is it possible to achieve this in tesseract? I think a constraint is needed to keep the z aixs rotate in a range , I tried the cartesian_coeff but i find for a trajectory(start pos and end pos are both cartesian wp), if i set the first three coeff to zero of cartesian_coeff(which i thought would only constrain the rotation of end_frame), the robot will not move to my target goal, only rotate to the desied orientation

[Levi-Armstrong]

I want to use the ur robot to hold a glass of water and move it from a place to another, in the process i don't want the water spit , so the z axis can't rotate too much, is it possible to achieve this in tesseract?

Yes, you define an orientation constraint. Take a look at the glass up right example.

Also I believe the example should provide you what you need for the problem you described.

[vegfood]

PlanInstruction plan_c0(wp2, PlanInstructionType::LINEAR, "RASTER");
plan_c0.setPathProfile("Z_UP");

auto path_profile = std::make_shared();
path_profile->cartesian_coeff = Eigen::VectorXd::Constant(6,1,5);
path_profile->cartesian_coeff(0) = 0;
path_profile->cartesian_coeff(1) = 0;
path_profile->cartesian_coeff(2) = 0;

planning_server.getProfiles()->addProfile(
profile_ns::TRAJOPT_IFOPT_DEFAULT_NAMESPACE, "Z_UP", path_profile);

[vegfood]

Is this the correct way?

[Levi-Armstrong]

I believe so.

[vegfood]

is it possible to allow the z axis rotate in a range, not just fix this axis. I notice there is constraint_error_functions in the plan_profile, i wander if i have to define my own error_function to achieve this ?

[Levi-Armstrong]

This currently not support out of the box but you could do as you suggested by implementing your own constraint_error_functions.