Documentation Status

cart_pushing: articulate_cart | cart_local_planner | cart_pushing_executive | cart_pushing_msgs | cart_state_estimator | costmap_trajectory_checker | global_planner_switcher | isolated_point_filter | manipulation_transforms | pr2_gazebo_cartworld | pr2_pose_saver | sbpl_cart_planner

Package Summary

Documented

manipulation_transforms: a library for mapping poses and twists back and forth between an object and the one or more effectors in rigid contact with it. Can be used for querying object position and velocity from effector actions, and for achieving desired object trajectories with the effectors. This will probably see use mainly for 2-arm manipulation tasks like cart pushing.

cart_pushing: articulate_cart | cart_local_planner | cart_pushing_executive | cart_pushing_msgs | cart_pushing_stage | cart_state_estimator | costmap_trajectory_checker | isolated_point_filter | manipulation_transforms | pr2_gazebo_cartworld | pr2_pose_saver | sbpl_cart_planner | twist_recovery

Package Summary

Documented

manipulation_transforms: a library for mapping poses and twists back and forth between an object and the one or more effectors in rigid contact with it. Can be used for querying object position and velocity from effector actions, and for achieving desired object trajectories with the effectors. This will probably see use mainly for 2-arm manipulation tasks like cart pushing.

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Contains a single ros node, manipulation_transforms_server. The node keeps track of a transform between a pair of "effector poses" and a corresponding rigidly held "object pose".

Advertised services

All services are in the node's private namespace.

LoadInitialTransforms

  • Ask the node to reload the current effector and object poses from the parameter server.

MapEffectorPosesToObject

  • Given the effector poses, return the corresponding object pose

MapObjectPoseToEffectors

  • Given the object pose, return the current effector poses

Parameters

{obj,effector0,effector1}_init_pose/position

  • Vector representing object/effector position; specified as [x, y, z]

{obj,effector0,effector1}_init_pose/orientation

  • Vector representing object/effector orientation; specified as [x, y, z, w]

Wiki: manipulation_transforms (last edited 2010-10-25 15:36:42 by BhaskaraMarthi)