Question to define the point when using geometry_msgs.msg.Pose()


In demo 3.1, we move the fetch robot by setting the target position. But I would like to know which point’s information is got when using the geometry_msgs.msg.Pose() and where we define that point?

pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.96
pose_target.position.y = 0
pose_target.position.z = 1.18

Hello @youngyangcs,

The Pose makes reference to the end effector (the device at the end of a robotic arm), which is defined when you create the MoveIt package using the Setup Assistant (in the End Effector section).

Thanks for your answer. Is that point the finger tip of the end effector or the middle center of the end effector?