manipulation_transforms Documentation

Provides a mechanism for computing grasp poses from pose of a grasped object and vice-versa. Assumes grasp is rigid, I.E. during the extent of grasp the relative transforms between the grippers and the object aren't allowed to change. These transforms are all specified relative to the base_footprint frame during initialization.

manipulation_transforms: manipulation_transforms

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.

gripper_pose_solver is ...


Author(s): Jonathan Scholz
autogenerated on Tue Jan 7 2014 11:10:09