Box constrains hardly works about universal_robots_ros2_driver

[fmauch]

Thank you for reporting this.

Unfortunately, this package's maintainers aren't MoveIt! experts themselves, so we can't really provide any insightful information. However, if there is anything we can change with the default settings to improve that situations, it might be good to change that here, which is why I will leave this issue open.

I suggest, that you ask somewhere else, e.g. on robotics.stackexchange.com (please also reference this issue there).

[firesurfer]

Did you properly configure the projection_evaluator ?

e.g. in the ompl_planning.yaml for your planning group:

 projection_evaluator: joints(ur_bottom/shoulder_pan_joint,ur_bottom/shoulder_lift_joint,ur_bottom/elbow_joint,ur_bottom/wrist_1_joint,ur_bottom/wrist_2_joint,ur_bottom/wrist_3_joint)

From my understanding constrained planning uses this projection in order to only sampling within the constrain region.
It could be that without the projection it falls back to rejection sampling which could explain the phenomena you are seeing

If you just want to move from to a certain cartesian position it might be worth taking a look at the pilz planner in moveit. Which allows for linear and circular (deterministic!) motions.