I'm trying to rotate just the gripper in ROS. I have tried many different values, and I'm not seeing the correct movement of the arm.

def go_to_pose_goal_6(self):

group = self.group

pose_goal = geometry_msgs.msg.Pose() pose_goal.position.x = .5 pose_goal.position.y = .5 pose_goal.position.z = .5 pose_goal.orientation.x = .5 pose_goal.orientation.y = 0.5 pose_goal.orientation.z = .5 pose_goal.orientation.w = .5 group.set_pose_target(pose_goal)

Now, we call the planner to compute the plan and execute it.

plan = group.go(wait=True)

Calling stop() ensures that there is no residual movement

group.stop()

group.clear_pose_targets()

current_pose = self.group.get_current_pose().pose

return all_close(pose_goal, current_pose, 0.1)