Orientation changes while following waypoints in move_group python interface

[iameijaz]

Description

I am trying to make the robotic arm move like a roller which goes on a straight path, then goes up in z-axis and then back to main position to start rolling again.

Your environment

• ROS Distro: Noetic
• OS Version: Ubuntu 20.04
• Source build

How can I make sure that the orientation of the end effector stays constant while it follows the cartesian path using the waypoint method mentioned in the move_group_python interface script.

[welcome]

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