# Trajectory planning of ur5 manipulator in ros

**URL:** <https://forum.universal-robots.com/t/trajectory-planning-of-ur5-manipulator-in-ros/29926>\
**Category:** Technical Questions\
**Created:** [August 11, 2023, 3:18am UTC](https://forum.universal-robots.com/t/trajectory-planning-of-ur5-manipulator-in-ros/29926 "2023-08-11T03:18:12Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon25959738](https://avatars.discourse-cdn.com/v4/letter/a/e0b2c6/32.png) [@anon25959738](https://forum.universal-robots.com/u/anon25959738)\
**Post date:** [August 11, 2023, 3:18am UTC](https://forum.universal-robots.com/t/trajectory-planning-of-ur5-manipulator-in-ros/29926/1 "2023-08-11T03:18:12Z")

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Hello, I wrote a send\_cartesian\_pose function by referring to test\_move.py in Universal\_Robots\_ROS\_Driver. This function uses pose\_based\_cartesian\_traj\_controller. Now I have a problem, I give the end Cartesian attitude point of the robotic arm (-0.59497, 0.40534, 0.07247, 3.43, 3.269, -0.184), (-0.59497, 0.40534, 0.07247, 3.580, 2.442, -1.089), among which only Rx,Ry and Rz have changed. Ideally, only the wrist 3 of the UR5 robot arm rotates, but the actual situation is that all 6 axes of the robot arm rotate. Could you please tell me how to make only wrist 3 rotate, thank you