Manipulation

[erolley-parnell]

Code state: incomplete

Executable roslaunch hello_tiago manipulation_demo.launch

rosservice call /manipulate_object "goal_pose: position: x: 0.85 y: 0.0 z: 1.03 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0

Details changed in 'tiago_tutorials/tiago_pick_demo/scripts/pick_and_place_server.py'

        #define a virtual table below the object
        table_height = object_pose.pose.position.z - self.object_height/2  
        table_width  = 1.8 
        table_depth  = 0.8
        table_pose.pose.position.z -= table_height/2 + self.object_height/2
        table_height -= 0.008 #remove few millimeters to prevent contact between the object and the table
        table_pose.pose.orientation.x = 0.0
        table_pose.pose.orientation.y = 0.0
        table_pose.pose.orientation.z = 0.0