I tried to do this repo with my robot and camera.
Then, I want to get the orientation of GraspConfig to move my robot, and I found it's a vector.
so, I guess it's RPY value and convert it to quaternion with static Euler angle xyz.
I think you are not doing the conversion correctly. It seems that you are trying to convert a single column of a rotation matrix to a quaternion. You should convert the complete matrix.
Hello,
I tried to do this repo with my robot and camera. Then, I want to get the orientation of GraspConfig to move my robot, and I found it's a vector. so, I guess it's RPY value and convert it to quaternion with static Euler angle xyz.
top_grasp_orientation = quaternion_from_euler(top_grasp.approach.x, top_grasp.approach.y, top_grasp.approach.z, axes='sxyz')
But the direction of result is wrong.![gpd1](https://user-images.githubusercontent.com/33343560/58303237-d68b8880-7e21-11e9-8b06-8f6db0d5bb35.png)
Could you help me to find the correct orientation of approach ?
Thanks a lot