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I assume you are requesting a 7-DOF robot (like a KUKA iiwa) to move to a cartesian Pose. Because it has a redundant degree of freedom, the redundant "elbow" angle is changed after the two moves.
The easiest way to return to a set configuration is to record the position in joint angles, not in cartesian space. The most convenient way to do this is to set up a named pose via the MoveIt setup assistant. You can then select the named poses in Rviz as a planning target.
To find the joint angles of your phsyical robot in a certain position, you can also run rostopic echo /joint_states and copy the results.
| | 2 | No.2 Revision |
I assume you are requesting a 7-DOF robot (like a KUKA iiwa) to move to a cartesian Pose. Because it has a redundant degree of freedom, the redundant "elbow" angle is changed after the two moves.
The easiest way to return to a set configuration is to record the position in joint angles, not in cartesian space. The most It is convenient way to do this is to set up a named pose via the MoveIt setup assistant. You can then select the named poses in Rviz as a planning target.
To find the joint angles of your phsyical robot in a certain position, you can also run rostopic echo /joint_states and copy the results.
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