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How to move manipulator to an upward pose with Descartes?

asked 2016-02-24 05:20:50 -0600

Yishin gravatar image

updated 2016-02-24 05:25:40 -0600

In Getting Started with Descartes, it assumes the end effector is at upward direction. However, my manipulator is initialized with a horizontal pose, like this.

How to move the end effector to upward direction with Descartes API?

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answered 2016-02-24 21:49:57 -0600

Yishin gravatar image

I found a solution here: How to specify trajectory points with 6D pose?

The method is to specify a {X, Y, Z} position with Orientation vector. Here's the code snippet:

using namespace Eigen;
Matrix3d m;
m =   AngleAxisd(0, Vector3d::UnitX())
    * AngleAxisd(-M_PI/2, Vector3d::UnitY())
    * AngleAxisd(0, Vector3d::UnitZ());
pose.linear() = m;
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I'm glad you found an answer to the issue you were having. If you have more trouble or questions going forward, please feel free to post here or on the Descartes issues page.

Jmeyer gravatar image Jmeyer  ( 2016-02-25 09:52:00 -0600 )edit

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Asked: 2016-02-24 05:20:50 -0600

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Last updated: Feb 24 '16