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wiki:tutorials:single-arm-cartesian-move-python [2019/11/18 14:21]
simon [The Code]
wiki:tutorials:single-arm-cartesian-move-python [2019/11/18 14:22] (current)
simon [The Code explained]
Line 86: Line 86:
 <code python> <code python>
 # specify the kinematic chain # specify the kinematic chain
-cartesian_goal.root_link = 'torso_lift_link+cartesian_goal.root_link = 'odom_combined
-cartesian_goal.tip_link = '​l_gripper_tool_frame' ​ +cartesian_goal.tip_link = '​l_gripper_tool_frame'​
  
-cartesian_goal.goal.header.frame_id = 'base_link' +cartesian_goal.goal.header.frame_id = 'l_gripper_tool_frame
-cartesian_goal.goal.pose.position.x = 0.4 +cartesian_goal.goal.pose.position.y = -0.1 
-cartesian_goal.goal.pose.position.y = 0.+cartesian_goal.goal.pose.orientation.w = 1
-cartesian_goal.goal.pose.position.z = 1 +
-cartesian_goal.goal.pose.orientation.x = 0 +
-cartesian_goal.goal.pose.orientation.y = 0 +
-cartesian_goal.goal.pose.orientation.z = 0.0499791692706783 +
-cartesian_goal.goal.pose.orientation.w = 0.998750260394966  ​+
 </​code>​ </​code>​