## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(pr2_object_manipulation_launch)>>

Note that these launch files do not include sensor data processing, an implementation of which can be found in [[tabletop_object_perception]]. Launch files combining manipulation (as contained here) and perception can be found in [[pr2_tabletop_manipulation_launch]]. Once started, the manipulation pipeline is ready to serve requests for tasks such as object pickup and placing.

== PR2 Gripper Hand Description ==

This package also contains configuration files with the description of a PR2 arm equipped with a gripper as needed by the manipulation pipeline. The format of an arm/hand description is documented in the [[object_manipulator]] page. Here is an example of such a configuration file:

{{{
hand_description:
  right_arm:
    hand_frame: r_wrist_roll_link
    robot_frame: base_link
    attached_objects_name: attached
    attach_link: r_gripper_r_finger_tip_link
    hand_group_name: r_end_effector
    arm_group_name: right_arm
    hand_database_name: WILLOW_GRIPPER_2010
    hand_joints: [r_gripper_l_finger_joint,r_gripper_r_finger_joint,r_gripper_r_finger_tip_joint,r_gripper_l_finger_tip_joint]
    hand_touch_links: [r_gripper_palm_link,r_gripper_r_finger_tip_link,r_gripper_l_finger_tip_link,r_gripper_l_finger_link,r_gripper_r_finger_link]
    hand_fingertip_links: [r_gripper_r_finger_tip_link,r_gripper_l_finger_tip_link]
    hand_approach_direction: [1.0,0.0,0.0]
  left_arm:
    hand_frame: l_wrist_roll_link
    robot_frame: base_link
    attached_objects_name: attached
    attach_link: l_gripper_r_finger_tip_link
    hand_group_name: l_end_effector
    arm_group_name: left_arm
    hand_database_name: WILLOW_GRIPPER_2010
    hand_joints: [l_gripper_l_finger_joint,l_gripper_r_finger_joint,l_gripper_r_finger_tip_joint,l_gripper_l_finger_tip_joint]
    hand_touch_links: [l_gripper_palm_link,l_gripper_r_finger_tip_link,l_gripper_l_finger_tip_link,l_gripper_l_finger_link,l_gripper_r_finger_link]
    hand_fingertip_links: [l_gripper_r_finger_tip_link,l_gripper_l_finger_tip_link]
    hand_approach_direction: [1.0,0.0,0.0]
}}}

== Running the Manipulation Pipeline ==

To launch the manipulation pipeline and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in [[pr2_tabletop_manipulation_apps]].

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