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moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot
http://docs.ros.org/kinetic/api/moveit_tutorials/html/
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rotating the gripper #126

Closed cnaes93 closed 1 year ago

cnaes93 commented 1 year ago

I have some Objects on the table that Robot must pick them up in certain direction. My idea was to rotate the robot's joint 6 to grab them. But I realized that joint 6 has a limitation and couldn't rotate in 360 degrees. I printed new gripper and changed fingers of the robot so gripper must be able to rotate 360 to grab the object. Then I tried using the quaternion to set the appropriate pose for the robot to grab the object, but I have no idea how it works. My question is what is the best method to just rotating the gripper; Using pose_goal.orientation (quaternion) or changing the limitation of joint 6 (joint_goal[6]) or is there a better solution? Tanks in advance

rhaschke commented 1 year ago

This question should be better asked at https://answers.ros.org. Please, post real issues and bug reports here only. You can't change the joint limits - these are defined by hardware limits. So, specify the correct orientation via a quaternion...