Hello!
(This can be a bit noob question, but im confused, so i ask)
Lets say I have a surface, a wall, described by YZ points of the world coordinate frame.
I want my robot EEF to go to a desired XYZ position, and ****its orientation can be anything**** that is normal/ortogonal to the aforementioned wall.
Is it OK to describe this constraint by giving for the desired points the following orientation?
wpoint.orientation.x = 0
wpoint.orientation.y = 0
wpoint.orientation.z = 0
wpoint.orientation.w = 1
I have a weird feeling, that this is not the right way to do it.
This way i have the feeling that the ROLL rotation (e.g. around x axis) is limited, even though it could be anything between 0-2pi. I hope i wrote this clearly.
**What is the right way to solve this?**
Thanks in advance.
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