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]