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How to set the gripper vertical position

asked 2022-09-09 10:05:53 -0500

dev4all12358
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updated 2022-09-09 22:32:18 -0500

ravijoshi

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I am using MoveGroupCommander.set_pose_targets function to set my robot arm target. The argument is a list of 7 floats as [x, y, z, qx, qy, qz, qw].

To set up the gripper vertically, what is the value of qx, qy, qz, qw?

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(qx, qy, qz, qw) is a tuple used to represent orientation. It is known as Quaternion. Please feel free to read about it. I am sure you will enjoy the lovely mathematics behind it.

ravijoshi ( 2022-09-09 22:28:13 -0500 )edit

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answered 2022-09-10 10:33:11 -0500

Mike Scheutzow
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See http://wiki.ros.org/tf2/Tutorials/Qua... , in particular section 3.

Many people starting out find it easier to think in terms of euler angles (roll, pitch and yaw), then use the tf transformations library to convert the 3 euler angles to a quaternion.

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Asked: 2022-09-09 10:05:53 -0500

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Last updated: Sep 10 '22

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How to set the gripper vertical position