I have a UR5e installed with a simple camera on its end effector. The robot is at a known position (Cartesian pose/angles and joint angles)
Using the camera I took a picture of a QR code and got the object's real life coordinates to the camera using OpenCV's SolvePNP. This gives me a 3x1 translation vector and a 3x1 rotation vector.
I'd like to tell the robot to move to that position in translation and angles.
I guess first step would be to inverse that result so I have the QR code's position from the camera's axes point of view.
How do I "add" this movement to the robot's arm?
(Using Python and ut_rtde)