Rotation in Python for a Robot Arm in Gazebo
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)
I need to rotate the gripper and every time I try this is moving the whole arm. How can I create rotational movement
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)
Hi,
I am having the same issue. Did you find any solution?