Currently, of one wants to save a pose from ROS and use that e.g. for a Cartesian motion command, one would have to save each field separately. As URScript also supports defining poses using the p[x, y, z, ax, ay, az] notation we could theoretically parse a ROS pose int o a URScript pose directly.
This would raise the following concerns:
We would have to convert between a quaternion-based notation to the angle-axis notation
Some coordinate frame validation would be helpful
Note: This is currently not planned to be worked on. If you'd like to implement this, please let us know here.
Currently, of one wants to save a pose from ROS and use that e.g. for a Cartesian motion command, one would have to save each field separately. As URScript also supports defining poses using the
p[x, y, z, ax, ay, az]notation we could theoretically parse a ROS pose int o a URScript pose directly.This would raise the following concerns:
Note: This is currently not planned to be worked on. If you'd like to implement this, please let us know here.