Hello,
Using a Motion object, I tried to increase the orientation_loss_weigh attribute to get the robot end-effector to keep a fix orientation during the trajectory.
desired_motion = jacobi.Motion("my_motion", robot, start=start, goal=goal)
desired_motion.orientation_loss_weight = 0.5
desired_motion.orientation_target = [x_euler, y_euler, z_euler]Unfortunately, I couldn't see any impact on the optimized trajectory. And this was true even for very large values of orientation_loss_weight. In my experiment, the end-effector always rotates the same to avoid the obstacle in front of it, although a path exist that would keep the orientation fixed.
Thanks