Revision history [back]

You can align the end effector without actually specifying the whole pose. Let's

pose_target = geometry_msgs.msg.Pose()

pose_target.position=group.get_current_pose().pose.position

# Then set orientation as you want
pose_target.orientation.w = 1.0
group.set_pose_target(pose_target)

plan1 = group.plan()
group.go()

You can align the end effector without actually specifying the whole pose. Let'sLet's say we keep the position but only set the orientation of the end effector.

Here in python the solution by modifying a bit the moveit tutorial :

pose_target = geometry_msgs.msg.Pose()

# Then set orientation as you want
pose_target.orientation.w = 1.0
group.set_pose_target(pose_target)
 # Planning
plan1 = group.plan()
group.go()