MoveIt! Euler angles or rotation vector?

asked 2018-05-23 03:54:09 -0600

machinekoder
69 ●12 ●13 ●20

updated 2018-05-23 03:55:32 -0600

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.

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moveit_commander uses rotation vectors or Euler angles as orientation input

I believe only if you chose to pass it a list. Other options are:

a Pose message, [or] a PoseStamped message

gvdhoorn ( 2018-05-23 04:07:51 -0600 )edit

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quaternion = quaternion_from_euler(self.pose.a, self.pose.b, self.pose.c, axes='sxyz') # static/fixed frame XYZ target = Pose( position=Point( x=self.pose.x, y=self.pose.y, z=self.pose.z, ), orientation=Quaternion( x=quaternion[0], y=quaternion[1], z=quaternion[2], w=quaternion[3], ) ) manipulator.set_pose_target(target, end_effector_link) manipulator.go()

MoveIt! Euler angles or rotation vector?

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MoveIt! Euler angles or rotation vector?