OrientationConstraint axis-angle error tolerances interpreted as roll, pitch and yaw angles.

[JeroenDM]

The OrientationConstraint.msg allows you to specify axis-angle error tolerance:

# optional axis-angle error tolerances specified
float64 absolute_x_axis_tolerance
float64 absolute_y_axis_tolerance
float64 absolute_z_axis_tolerance

I think this comment can be misleading, as the values are used with roll, pitch and yaw angles in the code that checks these constraints.

Or is there other code that I missed?

But: the TrajOpt planner uses angle-axis error, but does not support tolerance bounds, only weights for specific error terms. But it could be extended in the future, and then the tolerance values mentioned above can have multiple uses. (Orientation error is not yet implemented in the MoveIt version of TrajOpt.)