Is it possible to construct a goal with pose constraints via MoveIt python binding?

I have realized this with

moveit_msgs::Constraints pose_goal = kinematic_constraints::constructGoalConstraints("panda_hand_tcp", pose, tolerance_position, tolerance_orientation);

where tolerance_position and tolerance_orientation are both vectors.

But it seems that when using Python binding, tolerance_position and tolerance_orientation can only be a number instead of an array.

Should I generate the corresponding Python binding based on the Moveit source code?

Any help would be appreciated! Thanks!



Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Browse other questions tagged or ask your own question.