/pr_tsr

Library of predefined TSRs for use with the Aikido library

Primary LanguageC++

The Personal Robotics Task Space Region (TSR) Collection Build Status

This header-only library contains predefined TSRs (alt) for objects that may be manipulated with the Aikido library.

All TSRs are specified according to the following convention:

  1. The T0_w frame may be specified as convenient per the geometry and base frame of the object, and is the transform from the root of the object (i.e. its 0th BodyNode if a multi-body object) to the "TSR" frame w.
  2. The Tw_e frame is specified to be the exact same orientation as T0_w, translated to the graspable surface of the object. It is expected that any user of the TSR will have to modify mTw_e with a second transformation after initialization to include the actual w to e (end-effector) transformation of their particular gripper. See libherb for examples. [TODO link to specific source file]