# MoveIt! Euler angles or rotation vector?

I'm trying to figure out whether the MoveIt MoveGroupInterface, in particular, moveit_commander uses rotation vectors or Euler angles as orientation input. The documentation for move_group.set_position_target is not clear in this regard:

[x, y, z, rot_x, rot_y, rot_z] or a list of 7 floats [x, y, z, qx, qy, qz, qw]

The list is then passed to MoveGroupInterface where it is converted by Eigen to a Pose (XYZ and Quaternion) which looks more like the original input should be a rotation vector.

The MoveGroupInterface also has a setRPYTarget function, which expects roll pitch yaw == (fixed XYZ?) Euler angles.

Therefore, I'm not 100% sure if set_pose_target expects Euler angles or a rotation vector.

Can anyone please clarify me on which pose representation is expected.

I believe only if you chose to pass it a

`list`

. Other options are: