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40 lines
985 B
40 lines
985 B
# This message describes the state of contact or end-effector body.
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#
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# The contact state is expressed in the world frame. A contact state is
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# defined by:
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# * type of contact
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# * status of the contact
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# * the frame name
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# * the pose of the contact,
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# * the velocity of the contact,
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# * the wrench of the contact
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# * the normal vector that defines the surface
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# * the friction coefficient of the surface
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# * its classified state, if available
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# Type of contact identifiers
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uint8 LOCOMOTION = 0
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uint8 MANIPULATION = 1
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# Type of contact states
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uint8 UNKNOWN = 0 # 0 because it's the default for int8
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uint8 INACTIVE = 1
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uint8 ACTIVE = 2
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uint8 SLIPPING = 3
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# Name of the contact body
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string name
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# Type of contact
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uint8 type
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# Contact status (e.g. from a contact state estimator)
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uint8 status
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# State of the contact body
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geometry_msgs/Pose pose
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geometry_msgs/Twist velocity
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geometry_msgs/Wrench wrench
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geometry_msgs/Vector3 surface_normal
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float64 friction_coefficient
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