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As you said the pose is determined by both orientation and the position. It is what exactly what they have done in the tutorial

target_pose1.position.x = 0.28; target_pose1.position.y = -0.2; target_pose1.position.z = 0.5;

This 3 lines defines the position.

target_pose1.orientation.w = 1.0

this line shows the orientation (quarternion). They haven't defined remaining 3 components of quarternion. So it will be set to default zero value. If you want you can define remaining components as per your requirements as

target_pose1.orientation.x = ...

target_pose1.orientation.y=...

target_pose1.orientation.z = ...

Hope this clarifies your question

As you said the pose is determined by both orientation and the position. It is what exactly what they have done in the tutorial

target_pose1.position.x = 0.28; 0.28;
target_pose1.position.y = -0.2; -0.2;
target_pose1.position.z = 0.5;
0.5;

target_pose1.orientation.w = 1.0
1.0

target_pose1.orientation.x = ...
...
 target_pose1.orientation.y=...
 
target_pose1.orientation.y=...
 
target_pose1.orientation.z = ......