I get an object pose from the camera in quaternion. Since these are tetrahedron shaped objects, the robot needs to align the vacuum gripper to one of the sides of the object. But the yaw (rotation along surface normal) can be ignored.
I tried this by converting it to Euler angles, set yaw = 0, and converted back to quaternion. This works in some cases, but for certain cases, the robot picks up at an angle which seems to be 90° rotated.
Do I need to take care for certain cases of Euler angles or is there a better way to do this?