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How to convert world contact positions to robot's local coordinate?

asked 2013-01-09 04:06:48 -0500

Daehyung Park gravatar image

I am implementing contact plugin on PR2. I found the contact sensor returns contact positions based on world coordinate.

Since robot can move around and my controller only accepts contact positions based of torsoliftlink coordinate, I need to convert the position from world to local. Is there any method for it?

Thanks

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answered 2013-01-09 15:37:03 -0500

nkoenig gravatar image

Take the difference between the robot pose and the contact pose.

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I found example from ros gazebo bumper plugin. Finally, it works. Thanks.

Daehyung Park gravatar imageDaehyung Park ( 2013-01-13 15:53:10 -0500 )edit
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Asked: 2013-01-09 04:06:48 -0500

Seen: 528 times

Last updated: Jan 09 '13