Description

Trying to use an attached collision object subframe as an end-effector link for planning. It works as expected with OMPL, but with Pilz it seems like the transformation of the subframe is just applied w.r.t the world frame and not w.r.t the attached object pose.

Your environment

• ROS Distro: [Noetic]
• OS Version: e.g. Ubuntu 20.04
• Master

Steps to reproduce

• add <arg name="planning_adapters" value="default_planner_request_adapters/ResolveConstraintFrames" /> to both pilz and ompl planning_pipeline.launch.xml
• set move_group.setEndEffectorLink("cylinder/tip") as in the subframe tutorial, e.g. shifted from TCP frame along z=0.1.
• Move to a given target with OMPL and compare with PILZ

Expected behaviour

• The robot moves to the same target with same IK frame with PILZ and OMPL

Actual behaviour

• The robot moves to the target with a different IK frame, e.g. OMPL moves to expected pose, but PILZ moves 0.2 below desired pose.