moveit规划的路径过于复杂，请指导

Question

目标：使用摇杆，当摇杆往左拨一下，末端往y轴即左边移动1厘米。
存在问题：但是只是从原点左移1厘米，怎么moveit规划的需要所有的机械臂做这么大幅度的动作。理论上只要right_shoulder_roll_joint向左移动1厘米就可以了啊。
1、代码如下：
oid T1Driver::joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg)
{
// 获取当前按键状态
bool lb_current = msg->buttons.size() > button_map_["LB"] ? msg->buttons[button_map_["LB"]] == 1 : false;
bool rb_current = msg->buttons.size() > button_map_["RB"] ? msg->buttons[button_map_["RB"]] == 1 : false;}

// 1是X轴
if (rb_current && msg->axes[1] >= 0.5 )
{
move_in_direction(0.01, 0, 0);
RCLCPP_INFO(this->get_logger(), "Moving forward/backward 1cm");
}
if (rb_current && msg->axes[0] >= 0.5)
{
move_in_direction(0, 0.01, 0);
RCLCPP_INFO(this->get_logger(), "Moving left/right 1cm");
}

void T1Driver::move_in_direction(double x_distance, double y_distance, double z_distance)
{
geometry_msgs::msg::Pose target_pose;
std::string end_effector_link;
move_group_->setStartStateToCurrentState();
// 获取当前末端位姿. Get the current pose of the end effector
geometry_msgs::msg::PoseStamped pose_goal = move_group_->getCurrentPose();
// geometry_msgs::msg::Pose pose_goal = move_group_->getCurrentPose().pose;
RCLCPP_INFO(this->get_logger(), "Current Pose: up/down %.2fm, left/right %.2fm, forward/backward %.2fm",
pose_goal.pose.position.z, pose_goal.pose.position.y, pose_goal.pose.position.x);

RCLCPP_INFO(this->get_logger(), "Orientation: [x: %f, y: %f, z: %f, w: %f]",
pose_goal.pose.orientation.x, pose_goal.pose.orientation.y,
pose_goal.pose.orientation.z, pose_goal.pose.orientation.w);

end_effector_link = move_group_->getEndEffectorLink(); // 获取机械臂终端link的名称

target_pose = move_group_->getCurrentPose(end_effector_link).pose; // 获取机械臂终端当前位姿
// 修改X坐标
pose_goal.pose.position.x += x_distance;
pose_goal.pose.position.y += y_distance;
pose_goal.pose.position.z += z_distance;
// 运动规划与执行
moveit::planning_interface::MoveGroupInterface::Plan plan;
// 设置目标位姿
move_group_->setPoseTarget(pose_goal);
if (move_group_->plan(plan) == moveit::core::MoveItErrorCode::SUCCESS)
...

2、urdf文件如下：

3、下面是moveit规划的输出
[node_t1_driver-3] [INFO] [1751856518.163143655]: Planning request complete!
[ros2-2] [move_group-1] [INFO] [1751856518.162934365]: Motion plan was computed successfully.
[node_t1_driver-3] [INFO] [1751856518.163624187]: time taken to generate plan: 1.23705 seconds
[node_t1_driver-3] [INFO] [1751856518.163637849]: Path planning success!
[node_t1_driver-3] [INFO] [1751856518.163658812]: 目标关节位置:
[node_t1_driver-3] [INFO] [1751856518.163661639]: right_shoulder_pitch_joint: 3.105577 rad
[node_t1_driver-3] [INFO] [1751856518.163663945]: right_shoulder_roll_joint: 3.047265 rad
[node_t1_driver-3] [INFO] [1751856518.163665708]: right_shoulder_yaw_joint: -0.232676 rad
[node_t1_driver-3] [INFO] [1751856518.163667599]: right_elbow_pitch_joint: -2.970557 rad
[node_t1_driver-3] [INFO] [1751856518.163669150]: right_elbow_yaw_joint: -0.176338 rad
[node_t1_driver-3] [INFO] [1751856518.163670746]: 轨迹包含 5 个关节
[node_t1_driver-3] [INFO] [1751856518.163672368]: 轨迹包含 52 个路径点
[node_t1_driver-3] [INFO] [1751856518.163673813]: 关节名称:
[node_t1_driver-3] [INFO] [1751856518.163675279]: [0] right_shoulder_pitch_joint
[node_t1_driver-3] [INFO] [1751856518.163676841]: [1] right_shoulder_roll_joint
[node_t1_driver-3] [INFO] [1751856518.163678240]: [2] right_shoulder_yaw_joint
[node_t1_driver-3] [INFO] [1751856518.163679494]: [3] right_elbow_pitch_joint
[node_t1_driver-3] [INFO] [1751856518.163680739]: [4] right_elbow_yaw_joint
[node_t1_driver-3] [INFO] [1751856518.163682211]: 路径点 0:
[node_t1_driver-3] [INFO] [1751856518.163683689]: 时间: 0.000 秒
[node_t1_driver-3] [INFO] [1751856518.163685454]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163686977]: right_shoulder_pitch_joint: -3.141593 rad
[node_t1_driver-3] [INFO] [1751856518.163688632]: right_shoulder_roll_joint: -3.141593 rad
[node_t1_driver-3] [INFO] [1751856518.163690116]: right_shoulder_yaw_joint: -3.141593 rad
[node_t1_driver-3] [INFO] [1751856518.163691572]: right_elbow_pitch_joint: -3.141593 rad
[node_t1_driver-3] [INFO] [1751856518.163693015]: right_elbow_yaw_joint: -3.141593 rad
[node_t1_driver-3] [INFO] [1751856518.163694681]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163696068]: right_shoulder_pitch_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.163697646]: right_shoulder_roll_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.163699099]: right_shoulder_yaw_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.163700709]: right_elbow_pitch_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.163702195]: right_elbow_yaw_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.163703778]: 路径点 1:
[node_t1_driver-3] [INFO] [1751856518.163705145]: 时间: 0.100 秒
[node_t1_driver-3] [INFO] [1751856518.163706929]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163708209]: right_shoulder_pitch_joint: -3.137456 rad
[node_t1_driver-3] [INFO] [1751856518.163709827]: right_shoulder_roll_joint: -3.137479 rad
[node_t1_driver-3] [INFO] [1751856518.163731488]: right_shoulder_yaw_joint: -3.138816 rad
[node_t1_driver-3] [INFO] [1751856518.163733439]: right_elbow_pitch_joint: -3.139931 rad
[node_t1_driver-3] [INFO] [1751856518.163735051]: right_elbow_yaw_joint: -3.138793 rad
[node_t1_driver-3] [INFO] [1751856518.163736591]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163737831]: right_shoulder_pitch_joint: 0.077522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163740285]: right_shoulder_roll_joint: 0.076798 rad/s
[node_t1_driver-3] [INFO] [1751856518.163741936]: right_shoulder_yaw_joint: 0.036087 rad/s
[node_t1_driver-3] [INFO] [1751856518.163743490]: right_elbow_pitch_joint: 0.002103 rad/s
[node_t1_driver-3] [INFO] [1751856518.163745065]: right_elbow_yaw_joint: 0.036786 rad/s
[node_t1_driver-3] [INFO] [1751856518.163746645]: 路径点 2:
[node_t1_driver-3] [INFO] [1751856518.163747978]: 时间: 0.200 秒
[node_t1_driver-3] [INFO] [1751856518.163749519]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163750750]: right_shoulder_pitch_joint: -3.124703 rad
[node_t1_driver-3] [INFO] [1751856518.163752327]: right_shoulder_roll_joint: -3.124846 rad
[node_t1_driver-3] [INFO] [1751856518.163753842]: right_shoulder_yaw_joint: -3.132879 rad
[node_t1_driver-3] [INFO] [1751856518.163755320]: right_elbow_pitch_joint: -3.139585 rad
[node_t1_driver-3] [INFO] [1751856518.163756813]: right_elbow_yaw_joint: -3.132741 rad
[node_t1_driver-3] [INFO] [1751856518.163758303]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163759579]: right_shoulder_pitch_joint: 0.177522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163761134]: right_shoulder_roll_joint: 0.175865 rad/s
[node_t1_driver-3] [INFO] [1751856518.163762686]: right_shoulder_yaw_joint: 0.082637 rad/s
[node_t1_driver-3] [INFO] [1751856518.163764249]: right_elbow_pitch_joint: 0.004816 rad/s
[node_t1_driver-3] [INFO] [1751856518.163765767]: right_elbow_yaw_joint: 0.084238 rad/s
[node_t1_driver-3] [INFO] [1751856518.163767337]: 路径点 3:
[node_t1_driver-3] [INFO] [1751856518.163768640]: 时间: 0.300 秒
[node_t1_driver-3] [INFO] [1751856518.163770160]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163771392]: right_shoulder_pitch_joint: -3.101951 rad
[node_t1_driver-3] [INFO] [1751856518.163772986]: right_shoulder_roll_joint: -3.102306 rad
[node_t1_driver-3] [INFO] [1751856518.163774502]: right_shoulder_yaw_joint: -3.122288 rad
[node_t1_driver-3] [INFO] [1751856518.163775957]: right_elbow_pitch_joint: -3.138968 rad
[node_t1_driver-3] [INFO] [1751856518.163777492]: right_elbow_yaw_joint: -3.121945 rad
[node_t1_driver-3] [INFO] [1751856518.163779004]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163780261]: right_shoulder_pitch_joint: 0.277522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163781812]: right_shoulder_roll_joint: 0.274931 rad/s
[node_t1_driver-3] [INFO] [1751856518.163783393]: right_shoulder_yaw_joint: 0.129187 rad/s
[node_t1_driver-3] [INFO] [1751856518.163784905]: right_elbow_pitch_joint: 0.007529 rad/s
[node_t1_driver-3] [INFO] [1751856518.163786438]: right_elbow_yaw_joint: 0.131690 rad/s
[node_t1_driver-3] [INFO] [1751856518.163787934]: 路径点 4:
[node_t1_driver-3] [INFO] [1751856518.163789236]: 时间: 0.400 秒
[node_t1_driver-3] [INFO] [1751856518.163790692]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163791951]: right_shoulder_pitch_joint: -3.069199 rad
[node_t1_driver-3] [INFO] [1751856518.163793492]: right_shoulder_roll_joint: -3.069860 rad
[node_t1_driver-3] [INFO] [1751856518.163795053]: right_shoulder_yaw_joint: -3.107042 rad
[node_t1_driver-3] [INFO] [1751856518.163796580]: right_elbow_pitch_joint: -3.138079 rad
[node_t1_driver-3] [INFO] [1751856518.163798075]: right_elbow_yaw_joint: -3.106403 rad
[node_t1_driver-3] [INFO] [1751856518.163799582]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163800825]: right_shoulder_pitch_joint: 0.377522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163802371]: right_shoulder_roll_joint: 0.373997 rad/s
[node_t1_driver-3] [INFO] [1751856518.163803916]: right_shoulder_yaw_joint: 0.175737 rad/s
[node_t1_driver-3] [INFO] [1751856518.163805417]: right_elbow_pitch_joint: 0.010242 rad/s
[node_t1_driver-3] [INFO] [1751856518.163806934]: right_elbow_yaw_joint: 0.179142 rad/s
[node_t1_driver-3] [INFO] [1751856518.163808439]: 路径点 5:
[node_t1_driver-3] [INFO] [1751856518.163809744]: 时间: 0.500 秒
[node_t1_driver-3] [INFO] [1751856518.163811239]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163812483]: right_shoulder_pitch_joint: -3.026447 rad
[node_t1_driver-3] [INFO] [1751856518.163814023]: right_shoulder_roll_joint: -3.027507 rad
[node_t1_driver-3] [INFO] [1751856518.163816997]: right_shoulder_yaw_joint: -3.087141 rad
[node_t1_driver-3] [INFO] [1751856518.163818569]: right_elbow_pitch_joint: -3.136919 rad
[node_t1_driver-3] [INFO] [1751856518.163820080]: right_elbow_yaw_joint: -3.086116 rad
[node_t1_driver-3] [INFO] [1751856518.163821569]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163822813]: right_shoulder_pitch_joint: 0.477522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163827457]: right_shoulder_roll_joint: 0.473063 rad/s
[node_t1_driver-3] [INFO] [1751856518.163829113]: right_shoulder_yaw_joint: 0.222287 rad/s
[node_t1_driver-3] [INFO] [1751856518.163830668]: right_elbow_pitch_joint: 0.012955 rad/s
[node_t1_driver-3] [INFO] [1751856518.163832230]: right_elbow_yaw_joint: 0.226594 rad/s
[node_t1_driver-3] [INFO] [1751856518.163833771]: 路径点 6:
[node_t1_driver-3] [INFO] [1751856518.163835089]: 时间: 0.600 秒
[node_t1_driver-3] [INFO] [1751856518.163836590]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163837860]: right_shoulder_pitch_joint: -2.973694 rad
[node_t1_driver-3] [INFO] [1751856518.163839408]: right_shoulder_roll_joint: -2.975247 rad
[node_t1_driver-3] [INFO] [1751856518.163840950]: right_shoulder_yaw_joint: -3.062585 rad
[node_t1_driver-3] [INFO] [1751856518.163842484]: right_elbow_pitch_joint: -3.135488 rad
[node_t1_driver-3] [INFO] [1751856518.163843955]: right_elbow_yaw_joint: -3.061084 rad
[node_t1_driver-3] [INFO] [1751856518.163845442]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163846712]: right_shoulder_pitch_joint: 0.577522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163848289]: right_shoulder_roll_joint: 0.572130 rad/s
[node_t1_driver-3] [INFO] [1751856518.163849947]: right_shoulder_yaw_joint: 0.268837 rad/s
[node_t1_driver-3] [INFO] [1751856518.163851443]: right_elbow_pitch_joint: 0.015668 rad/s
[node_t1_driver-3] [INFO] [1751856518.163852936]: right_elbow_yaw_joint: 0.274047 rad/s
[node_t1_driver-3] [INFO] [1751856518.163854475]: 路径点 7:
[node_t1_driver-3] [INFO] [1751856518.163855767]: 时间: 0.700 秒
[node_t1_driver-3] [INFO] [1751856518.163857209]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163858462]: right_shoulder_pitch_joint: -2.910942 rad
[node_t1_driver-3] [INFO] [1751856518.163859953]: right_shoulder_roll_joint: -2.913081 rad
[node_t1_driver-3] [INFO] [1751856518.163861471]: right_shoulder_yaw_joint: -3.033373 rad
[node_t1_driver-3] [INFO] [1751856518.163862946]: right_elbow_pitch_joint: -3.133786 rad
[node_t1_driver-3] [INFO] [1751856518.163864432]: right_elbow_yaw_joint: -3.031307 rad
[node_t1_driver-3] [INFO] [1751856518.163865925]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163867169]: right_shoulder_pitch_joint: 0.677522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163868711]: right_shoulder_roll_joint: 0.671196 rad/s
[node_t1_driver-3] [INFO] [1751856518.163870241]: right_shoulder_yaw_joint: 0.315387 rad/s
[node_t1_driver-3] [INFO] [1751856518.163871757]: right_elbow_pitch_joint: 0.018381 rad/s
[node_t1_driver-3] [INFO] [1751856518.163873244]: right_elbow_yaw_joint: 0.321499 rad/s
[node_t1_driver-3] [INFO] [1751856518.163874763]: 路径点 8:
[node_t1_driver-3] [INFO] [1751856518.163876075]: 时间: 0.800 秒
[node_t1_driver-3] [INFO] [1751856518.163877501]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163878756]: right_shoulder_pitch_joint: -2.838190 rad
[node_t1_driver-3] [INFO] [1751856518.163880285]: right_shoulder_roll_joint: -2.841008 rad
[node_t1_driver-3] [INFO] [1751856518.163881824]: right_shoulder_yaw_joint: -2.999507 rad
[node_t1_driver-3] [INFO] [1751856518.163883300]: right_elbow_pitch_joint: -3.131812 rad
[node_t1_driver-3] [INFO] [1751856518.163884730]: right_elbow_yaw_joint: -2.996785 rad
[node_t1_driver-3] [INFO] [1751856518.163886233]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163887448]: right_shoulder_pitch_joint: 0.777522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163888964]: right_shoulder_roll_joint: 0.770262 rad/s
[node_t1_driver-3] [INFO] [1751856518.163890505]: right_shoulder_yaw_joint: 0.361937 rad/s
[node_t1_driver-3] [INFO] [1751856518.163892021]: right_elbow_pitch_joint: 0.021094 rad/s
[node_t1_driver-3] [INFO] [1751856518.163893519]: right_elbow_yaw_joint: 0.368951 rad/s
[node_t1_driver-3] [INFO] [1751856518.163895025]: 路径点 9:
[node_t1_driver-3] [INFO] [1751856518.163896321]: 时间: 0.900 秒
[node_t1_driver-3] [INFO] [1751856518.163897750]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163898978]: right_shoulder_pitch_joint: -2.755438 rad
[node_t1_driver-3] [INFO] [1751856518.163901075]: right_shoulder_roll_joint: -2.759028 rad
[node_t1_driver-3] [INFO] [1751856518.163902570]: right_shoulder_yaw_joint: -2.960986 rad
[node_t1_driver-3] [INFO] [1751856518.163904064]: right_elbow_pitch_joint: -3.129567 rad
[node_t1_driver-3] [INFO] [1751856518.163905551]: right_elbow_yaw_joint: -2.957517 rad
[node_t1_driver-3] [INFO] [1751856518.163907055]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163908271]: right_shoulder_pitch_joint: 0.877522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163909786]: right_shoulder_roll_joint: 0.869329 rad/s
[node_t1_driver-3] [INFO] [1751856518.163911362]: right_shoulder_yaw_joint: 0.408487 rad/s
[node_t1_driver-3] [INFO] [1751856518.163912849]: right_elbow_pitch_joint: 0.023807 rad/s
[node_t1_driver-3] [INFO] [1751856518.163914376]: right_elbow_yaw_joint: 0.416403 rad/s
[node_t1_driver-3] [INFO] [1751856518.163915883]: 路径点 10:
[node_t1_driver-3] [INFO] [1751856518.163917251]: 时间: 1.000 秒
[node_t1_driver-3] [INFO] [1751856518.163921130]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163922470]: right_shoulder_pitch_joint: -2.662686 rad
[node_t1_driver-3] [INFO] [1751856518.163924051]: right_shoulder_roll_joint: -2.667142 rad
[node_t1_driver-3] [INFO] [1751856518.163925565]: right_shoulder_yaw_joint: -2.917810 rad
[node_t1_driver-3] [INFO] [1751856518.163927079]: right_elbow_pitch_joint: -3.127050 rad
[node_t1_driver-3] [INFO] [1751856518.163928576]: right_elbow_yaw_joint: -2.913504 rad
[node_t1_driver-3] [INFO] [1751856518.163930139]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163931400]: right_shoulder_pitch_joint: 0.977522 rad/s
[node_t1_driver-3] [INFO] [1751856518.163933012]: right_shoulder_roll_joint: 0.968395 rad/s
[node_t1_driver-3] [INFO] [1751856518.163934553]: right_shoulder_yaw_joint: 0.455038 rad/s
[node_t1_driver-3] [INFO] [1751856518.163936065]: right_elbow_pitch_joint: 0.026520 rad/s
[node_t1_driver-3] [INFO] [1751856518.163937575]: right_elbow_yaw_joint: 0.463855 rad/s
[node_t1_driver-3] [INFO] [1751856518.163939092]: 路径点 11:
[node_t1_driver-3] [INFO] [1751856518.163940401]: 时间: 1.100 秒
[node_t1_driver-3] [INFO] [1751856518.163941925]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163943149]: right_shoulder_pitch_joint: -2.559934 rad
[node_t1_driver-3] [INFO] [1751856518.163944676]: right_shoulder_roll_joint: -2.565350 rad
[node_t1_driver-3] [INFO] [1751856518.163946218]: right_shoulder_yaw_joint: -2.869978 rad
[node_t1_driver-3] [INFO] [1751856518.163947727]: right_elbow_pitch_joint: -3.124263 rad
[node_t1_driver-3] [INFO] [1751856518.163949191]: right_elbow_yaw_joint: -2.864746 rad
[node_t1_driver-3] [INFO] [1751856518.163950687]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163951942]: right_shoulder_pitch_joint: 1.077521 rad/s
[node_t1_driver-3] [INFO] [1751856518.163953445]: right_shoulder_roll_joint: 1.067461 rad/s
[node_t1_driver-3] [INFO] [1751856518.163954945]: right_shoulder_yaw_joint: 0.501588 rad/s
[node_t1_driver-3] [INFO] [1751856518.163956485]: right_elbow_pitch_joint: 0.029233 rad/s
[node_t1_driver-3] [INFO] [1751856518.163958038]: right_elbow_yaw_joint: 0.511307 rad/s
[node_t1_driver-3] [INFO] [1751856518.163959587]: 路径点 12:
[node_t1_driver-3] [INFO] [1751856518.163960883]: 时间: 1.200 秒
[node_t1_driver-3] [INFO] [1751856518.163962344]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163963585]: right_shoulder_pitch_joint: -2.447182 rad
[node_t1_driver-3] [INFO] [1751856518.163965140]: right_shoulder_roll_joint: -2.453650 rad
[node_t1_driver-3] [INFO] [1751856518.163966619]: right_shoulder_yaw_joint: -2.817492 rad
[node_t1_driver-3] [INFO] [1751856518.163968092]: right_elbow_pitch_joint: -3.121204 rad
[node_t1_driver-3] [INFO] [1751856518.163969541]: right_elbow_yaw_joint: -2.811243 rad
[node_t1_driver-3] [INFO] [1751856518.163971043]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163972299]: right_shoulder_pitch_joint: 1.177521 rad/s
[node_t1_driver-3] [INFO] [1751856518.163973824]: right_shoulder_roll_joint: 1.166527 rad/s
[node_t1_driver-3] [INFO] [1751856518.163975286]: right_shoulder_yaw_joint: 0.548138 rad/s
[node_t1_driver-3] [INFO] [1751856518.163976834]: right_elbow_pitch_joint: 0.031946 rad/s
[node_t1_driver-3] [INFO] [1751856518.163978342]: right_elbow_yaw_joint: 0.558759 rad/s
[node_t1_driver-3] [INFO] [1751856518.163979887]: 路径点 13:
[node_t1_driver-3] [INFO] [1751856518.163981191]: 时间: 1.300 秒
[node_t1_driver-3] [INFO] [1751856518.163983190]: 位置:
[node_t1_driver-3] [INFO] [1751856518.163984442]: right_shoulder_pitch_joint: -2.324429 rad
[node_t1_driver-3] [INFO] [1751856518.163985933]: right_shoulder_roll_joint: -2.332044 rad
[node_t1_driver-3] [INFO] [1751856518.163987403]: right_shoulder_yaw_joint: -2.760351 rad
[node_t1_driver-3] [INFO] [1751856518.163988879]: right_elbow_pitch_joint: -3.117873 rad
[node_t1_driver-3] [INFO] [1751856518.163990373]: right_elbow_yaw_joint: -2.752994 rad
[node_t1_driver-3] [INFO] [1751856518.163991853]: 速度:
[node_t1_driver-3] [INFO] [1751856518.163993083]: right_shoulder_pitch_joint: 1.277521 rad/s
[node_t1_driver-3] [INFO] [1751856518.163994610]: right_shoulder_roll_joint: 1.265594 rad/s
[node_t1_driver-3] [INFO] [1751856518.163996174]: right_shoulder_yaw_joint: 0.594688 rad/s
[node_t1_driver-3] [INFO] [1751856518.163997722]: right_elbow_pitch_joint: 0.034659 rad/s
[node_t1_driver-3] [INFO] [1751856518.163999236]: right_elbow_yaw_joint: 0.606212 rad/s
[node_t1_driver-3] [INFO] [1751856518.164000810]: 路径点 14:
[node_t1_driver-3] [INFO] [1751856518.164002089]: 时间: 1.400 秒
[node_t1_driver-3] [INFO] [1751856518.164003520]: 位置:
[node_t1_driver-3] [INFO] [1751856518.164004761]: right_shoulder_pitch_joint: -2.191677 rad
[node_t1_driver-3] [INFO] [1751856518.164006253]: right_shoulder_roll_joint: -2.200531 rad
[node_t1_driver-3] [INFO] [1751856518.164007692]: right_shoulder_yaw_joint: -2.698555 rad
[node_t1_driver-3] [INFO] [1751856518.164009203]: right_elbow_pitch_joint: -3.114272 rad
[node_t1_driver-3] [INFO] [1751856518.164012986]: right_elbow_yaw_joint: -2.690000 rad
[node_t1_driver-3] [INFO] [1751856518.164014568]: 速度:
[node_t1_driver-3] [INFO] [1751856518.164015825]: right_shoulder_pitch_joint: 1.377521 rad/s
[node_t1_driver-3] [INFO] [1751856518.164022603]: right_shoulder_roll_joint: 1.364660 rad/s
[node_t1_driver-3] [INFO] [1751856518.164024178]: right_shoulder_yaw_joint: 0.641238 rad/s
[node_t1_driver-3] [INFO] [1751856518.164025773]: right_elbow_pitch_joint: 0.037372 rad/s
[node_t1_driver-3] [INFO] [1751856518.164027315]: right_elbow_yaw_joint: 0.653664 rad/s
................
[node_t1_driver-3] [INFO] [1751856518.164684041]: 路径点 45:
[node_t1_driver-3] [INFO] [1751856518.164685328]: 时间: 4.500 秒
[node_t1_driver-3] [INFO] [1751856518.164686759]: 位置:
[node_t1_driver-3] [INFO] [1751856518.164688001]: right_shoulder_pitch_joint: 2.969912 rad
[node_t1_driver-3] [INFO] [1751856518.164689496]: right_shoulder_roll_joint: 2.912866 rad
[node_t1_driver-3] [INFO] [1751856518.164693915]: right_shoulder_yaw_joint: -0.295828 rad
[node_t1_driver-3] [INFO] [1751856518.164695635]: right_elbow_pitch_joint: -2.974237 rad
[node_t1_driver-3] [INFO] [1751856518.164697186]: right_elbow_yaw_joint: -0.240714 rad
[node_t1_driver-3] [INFO] [1751856518.164698728]: 速度:
[node_t1_driver-3] [INFO] [1751856518.164699959]: right_shoulder_pitch_joint: 0.520893 rad/s
[node_t1_driver-3] [INFO] [1751856518.164701444]: right_shoulder_roll_joint: 0.516030 rad/s
[node_t1_driver-3] [INFO] [1751856518.164703000]: right_shoulder_yaw_joint: 0.242477 rad/s
[node_t1_driver-3] [INFO] [1751856518.164704531]: right_elbow_pitch_joint: 0.014132 rad/s
[node_t1_driver-3] [INFO] [1751856518.164706078]: right_elbow_yaw_joint: 0.247175 rad/s
[node_t1_driver-3] [INFO] [1751856518.164707571]: 路径点 46:
[node_t1_driver-3] [INFO] [1751856518.164708856]: 时间: 4.600 秒
[node_t1_driver-3] [INFO] [1751856518.164710295]: 位置:
[node_t1_driver-3] [INFO] [1751856518.164711527]: right_shoulder_pitch_joint: 3.017001 rad
[node_t1_driver-3] [INFO] [1751856518.164712997]: right_shoulder_roll_joint: 2.959516 rad
[node_t1_driver-3] [INFO] [1751856518.164714540]: right_shoulder_yaw_joint: -0.273908 rad
[node_t1_driver-3] [INFO] [1751856518.164716046]: right_elbow_pitch_joint: -2.972960 rad
[node_t1_driver-3] [INFO] [1751856518.164717558]: right_elbow_yaw_joint: -0.218369 rad
[node_t1_driver-3] [INFO] [1751856518.164719075]: 速度:
[node_t1_driver-3] [INFO] [1751856518.164720289]: right_shoulder_pitch_joint: 0.420893 rad/s
[node_t1_driver-3] [INFO] [1751856518.164721775]: right_shoulder_roll_joint: 0.416964 rad/s
[node_t1_driver-3] [INFO] [1751856518.164723312]: right_shoulder_yaw_joint: 0.195926 rad/s
[node_t1_driver-3] [INFO] [1751856518.164724794]: right_elbow_pitch_joint: 0.011419 rad/s
[node_t1_driver-3] [INFO] [1751856518.164726301]: right_elbow_yaw_joint: 0.199723 rad/s
[node_t1_driver-3] [INFO] [1751856518.164727843]: 路径点 47:
[node_t1_driver-3] [INFO] [1751856518.164729130]: 时间: 4.700 秒
[node_t1_driver-3] [INFO] [1751856518.164730552]: 位置:
[node_t1_driver-3] [INFO] [1751856518.164731780]: right_shoulder_pitch_joint: 3.054091 rad
[node_t1_driver-3] [INFO] [1751856518.164733288]: right_shoulder_roll_joint: 2.996259 rad
[node_t1_driver-3] [INFO] [1751856518.164734782]: right_shoulder_yaw_joint: -0.256643 rad
[node_t1_driver-3] [INFO] [1751856518.164736328]: right_elbow_pitch_joint: -2.971954 rad
[node_t1_driver-3] [INFO] [1751856518.164738375]: right_elbow_yaw_joint: -0.200770 rad
[node_t1_driver-3] [INFO] [1751856518.164739941]: 速度:
[node_t1_driver-3] [INFO] [1751856518.164741166]: right_shoulder_pitch_joint: 0.320893 rad/s
[node_t1_driver-3] [INFO] [1751856518.164742669]: right_shoulder_roll_joint: 0.317897 rad/s
[node_t1_driver-3] [INFO] [1751856518.164744148]: right_shoulder_yaw_joint: 0.149376 rad/s
[node_t1_driver-3] [INFO] [1751856518.164745610]: right_elbow_pitch_joint: 0.008706 rad/s
[node_t1_driver-3] [INFO] [1751856518.164747162]: right_elbow_yaw_joint: 0.152271 rad/s
[node_t1_driver-3] [INFO] [1751856518.164748675]: 路径点 48:
[node_t1_driver-3] [INFO] [1751856518.164749944]: 时间: 4.800 秒
[node_t1_driver-3] [INFO] [1751856518.164751355]: 位置:
[node_t1_driver-3] [INFO] [1751856518.164752621]: right_shoulder_pitch_joint: 3.081180 rad
[node_t1_driver-3] [INFO] [1751856518.164754122]: right_shoulder_roll_joint: 3.023095 rad
[node_t1_driver-3] [INFO] [1751856518.164755618]: right_shoulder_yaw_joint: -0.244032 rad
[node_t1_driver-3] [INFO] [1751856518.164757123]: right_elbow_pitch_joint: -2.971219 rad
[node_t1_driver-3] [INFO] [1751856518.164758660]: right_elbow_yaw_joint: -0.187915 rad
[node_t1_driver-3] [INFO] [1751856518.164760173]: 速度:
[node_t1_driver-3] [INFO] [1751856518.164761395]: right_shoulder_pitch_joint: 0.220893 rad/s
[node_t1_driver-3] [INFO] [1751856518.164762892]: right_shoulder_roll_joint: 0.218831 rad/s
[node_t1_driver-3] [INFO] [1751856518.164764386]: right_shoulder_yaw_joint: 0.102826 rad/s
[node_t1_driver-3] [INFO] [1751856518.164766016]: right_elbow_pitch_joint: 0.005993 rad/s
[node_t1_driver-3] [INFO] [1751856518.164767578]: right_elbow_yaw_joint: 0.104819 rad/s
[node_t1_driver-3] [INFO] [1751856518.164769173]: 路径点 49:
[node_t1_driver-3] [INFO] [1751856518.164770463]: 时间: 4.900 秒
[node_t1_driver-3] [INFO] [1751856518.164771907]: 位置:
[node_t1_driver-3] [INFO] [1751856518.164773134]: right_shoulder_pitch_joint: 3.098269 rad
[node_t1_driver-3] [INFO] [1751856518.164774664]: right_shoulder_roll_joint: 3.040025 rad
[node_t1_driver-3] [INFO] [1751856518.164776147]: right_shoulder_yaw_joint: -0.236077 rad
[node_t1_driver-3] [INFO] [1751856518.164777662]: right_elbow_pitch_joint: -2.970755 rad
[node_t1_driver-3] [INFO] [1751856518.164779168]: right_elbow_yaw_joint: -0.179806 rad
[node_t1_driver-3] [INFO] [1751856518.164780731]: 速度:
[node_t1_driver-3] [INFO] [1751856518.164782042]: right_shoulder_pitch_joint: 0.120893 rad/s
[node_t1_driver-3] [INFO] [1751856518.164783696]: right_shoulder_roll_joint: 0.119765 rad/s
[node_t1_driver-3] [INFO] [1751856518.164787463]: right_shoulder_yaw_joint: 0.056276 rad/s
[node_t1_driver-3] [INFO] [1751856518.164789098]: right_elbow_pitch_joint: 0.003280 rad/s
[node_t1_driver-3] [INFO] [1751856518.164790663]: right_elbow_yaw_joint: 0.057367 rad/s
[node_t1_driver-3] [INFO] [1751856518.164792202]: 路径点 50:
[node_t1_driver-3] [INFO] [1751856518.164793501]: 时间: 5.000 秒
[node_t1_driver-3] [INFO] [1751856518.164794960]: 位置:
[node_t1_driver-3] [INFO] [1751856518.164796194]: right_shoulder_pitch_joint: 3.105359 rad
[node_t1_driver-3] [INFO] [1751856518.164797701]: right_shoulder_roll_joint: 3.047048 rad
[node_t1_driver-3] [INFO] [1751856518.164799181]: right_shoulder_yaw_joint: -0.232777 rad
[node_t1_driver-3] [INFO] [1751856518.164800706]: right_elbow_pitch_joint: -2.970563 rad
[node_t1_driver-3] [INFO] [1751856518.164802203]: right_elbow_yaw_joint: -0.176442 rad
[node_t1_driver-3] [INFO] [1751856518.164803775]: 速度:
[node_t1_driver-3] [INFO] [1751856518.164805034]: right_shoulder_pitch_joint: 0.020893 rad/s
[node_t1_driver-3] [INFO] [1751856518.164806570]: right_shoulder_roll_joint: 0.020698 rad/s
[node_t1_driver-3] [INFO] [1751856518.164808108]: right_shoulder_yaw_joint: 0.009726 rad/s
[node_t1_driver-3] [INFO] [1751856518.164809691]: right_elbow_pitch_joint: 0.000567 rad/s
[node_t1_driver-3] [INFO] [1751856518.164811295]: right_elbow_yaw_joint: 0.009914 rad/s
[node_t1_driver-3] [INFO] [1751856518.164812895]: 路径点 51:
[node_t1_driver-3] [INFO] [1751856518.164814198]: 时间: 5.021 秒
[node_t1_driver-3] [INFO] [1751856518.164815671]: 位置:
[node_t1_driver-3] [INFO] [1751856518.164816879]: right_shoulder_pitch_joint: 3.105577 rad
[node_t1_driver-3] [INFO] [1751856518.164818364]: right_shoulder_roll_joint: 3.047265 rad
[node_t1_driver-3] [INFO] [1751856518.164819937]: right_shoulder_yaw_joint: -0.232676 rad
[node_t1_driver-3] [INFO] [1751856518.164822061]: right_elbow_pitch_joint: -2.970557 rad
[node_t1_driver-3] [INFO] [1751856518.164823559]: right_elbow_yaw_joint: -0.176338 rad
[node_t1_driver-3] [INFO] [1751856518.164825096]: 速度:
[node_t1_driver-3] [INFO] [1751856518.164826383]: right_shoulder_pitch_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.164828094]: right_shoulder_roll_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.164829604]: right_shoulder_yaw_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.164831201]: right_elbow_pitch_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.164832792]: right_elbow_yaw_joint: 0.000000 rad/s
[node_t1_driver-3] [INFO] [1751856518.165130703]: Execute request accepted
[ros2-2] [move_group-1] [INFO] [1751856518.165058554]: Received goal request
[ros2-2] [move_group-1] [INFO] [1751856518.165099826]: Execution request received
[ros2-2] [move_group-1] [INFO] [1751856518.165114254]: Returned 2 controllers in list
[ros2-2] [move_group-1] [INFO] [1751856518.165124193]: Returned 2 controllers in list
[ros2-2] [move_group-1] [INFO] [1751856518.165187627]: Validating trajectory with allowed_start_tolerance 0.05
[ros2-2] [move_group-1] [INFO] [1751856518.165232950]: Starting trajectory execution ...
[ros2-2] [move_group-1] [INFO] [1751856518.165256561]: Returned 2 controllers in list
[ros2-2] [move_group-1] [INFO] [1751856518.165277831]: Returned 2 controllers in list
[ros2-2] [move_group-1] [INFO] [1751856518.165353293]: sending trajectory to arm_controller
[ros2-2] [move_group-1] [INFO] [1751856518.165670970]: arm_controller started execution
[ros2-2] [move_group-1] [INFO] [1751856518.165686536]: Goal request accepted!
[ros2-2] [move_group-1] [INFO] [1751856523.216173116]: Controller 'arm_controller' successfully finished
[node_t1_driver-3] [INFO] [1751856523.216566021]: Execute request success!
[ros2-2] [move_group-1] [INFO] [1751856523.216340272]: Completed trajectory execution with status SUCCEEDED ...
[ros2-2] [move_group-1] [INFO] [1751856523.216388367]: Execution completed: SUCCEEDED
[node_t1_driver-3] [INFO] [1751856526.218441173]:
[node_t1_driver-3] 末端目标位姿:
[node_t1_driver-3] [INFO] [1751856526.218455633]: 位置: [0.0024, -0.2050, 0.3673]
[node_t1_driver-3] [INFO] [1751856526.218460468]: 姿态: [-0.7071, 0.7071, 0.0000, 0.0000]
[node_t1_driver-3] [INFO] [1751856526.218474628]: Moving left/right 1cm

Answer 1

阿里嘎多学长整理AIGC生成，因移动端显示问题导致当前答案未能完全显示，请使用PC端查看更加详细的解答过程

问题解答

你遇到的问题是 MoveIt!规划的路径过于复杂，导致机械臂做了不必要的动作。具体来说，你想要摇杆往左拨一下，末端往y轴左边移动1厘米，但是 MoveIt!规划的结果是机械臂做了很大的动作。

解决方案：

1. 检查规划器的参数： MoveIt! 的规划器有很多参数，可以影响规划结果。检查规划器的参数，例如 max_velocity_scaling_factor、max_acceleration_scaling_factor 等，确保它们的值合理。
2. 使用约束：在 MoveIt! 中，可以使用约束来限制机械臂的运动。例如，你可以使用 JointLimits 约束来限制每个关节的角度范围。
3. 使用 Task Planner： MoveIt! 提供了 Task Planner，用于规划任务的执行顺序。可以使用 Task Planner 来规划机械臂的运动，确保机械臂只做必要的动作。
4. 检查运动规划的结果：使用 MoveIt! 的 move_group 节点来检查规划的结果，确保机械臂的运动是合理的。

代码示例：

// 创建 MoveIt! 的规划器
moveit::planning::PlanningScene scene;
moveit::planning::MoveGroup group("arm");

// 设置规划器的参数
group.setPlanningTime(10.0);
group.setNumPlanningAttempts(10);

// 设置约束
group.setJointLimits("right_shoulder", -1.57, 1.57);

// 设置 Task Planner
group.setTaskPlanner("ompl");

// 规划机械臂的运动
group.plan(moveit::planning::MotionPlanRequest());

// 检查规划的结果
moveit::planning::MotionPlanResponse response = group.plan();
if (response.error_code_.val == moveit::planning::MotionPlanResponse::SUCCESS) {
    // 规划成功
} else {
    // 规划失败
}

这些解决方案可以帮助你解决 MoveIt! 规划的路径过于复杂的问题。