Fresco

Have tried to increase the allowed_execution_duration_scaling from 1.2 to 1.5, 2.0, 10.0. But still does not work.

I am aware of the construct_link_constraint function. Based on the example provided in the python motion planning example https://moveit.picknik.ai/main/doc/examples/motion_planning_python_api/motion_planning_python_api_tutorial.html#single-pipeline-planning-custom-constraints, The construct_joint_constraint function is used to move the robot to specific...