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what is the meaning for the orientation of pr2 arm in cartesion controller?

asked 2012-02-26 13:57:20 -0500

zhenli gravatar image

updated 2012-02-27 07:31:51 -0500

kwc gravatar image

I try to use the keyboard control the pr2 simulator, but Ĩ can not get a clear idea about the mean setting of orientation.

cmd.pose.orientation.x=-0.00244781865415;
cmd.pose.orientation.y=-0.548220284495;
cmd.pose.orientation.z=0.00145617884538;
cmd.pose.orientation.w=0.836329126239;

That is in the demo source code. How can I set this value to make the gripper is vertical face the table so as to grasp the object on the table.

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answered 2012-02-26 21:24:52 -0500

Lorenz gravatar image

The orientation is represented as a quaternion. The related question/answer on this site can be found here.

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Asked: 2012-02-26 13:57:20 -0500

Seen: 152 times

Last updated: Feb 26 '12