Documentation
This package has one node which sends commands to RTAI to pickup and place cups with the BipedRobin robot.
Nodes
object_manipulator
This nodes provides services to pickup and place cups, and move the robot in a defined start posture. It calls services to move the robot and the gripper.Services
pickup_srv (biped_robin_msgs/PickupObjectService)- When this service is called the robot picks up a cup at the coordinates specified in the PickupObjectService message.
- When this service is called the robot places up a cup at the coordinates specified in the PickupObjectService message.
- This Services moves the robot in a defined start posture.
Services Called
movePostureCartesian_srv (biped_robin_msgs/MovePostureCartesianService)- This service moves the robot by sending the coordinates of the tcp, orientation of the robots upper body and angles of the two arms.
- Service to open and close the robot hand and setting the grip mode of the hand.