api_documentation: http://ros.org/doc/electric/api/katana_manipulation/html
authors: "Maintained by Martin G\xFCnther, Henning Deeken"
brief: katana_manipulation
depends:
- ros
depends_on: []
description: "\n\n    This stack contains kinematics, motion planning and grasp planning\
  \ for the Katana arm. Specifically:\n    <ul>\n      <li>configuration files for\
  \ the arm_navigation pipeline (package katana_arm_navigation),</li>\n      <li>constraint-aware\
  \ forward and inverse kinematics (package katana_kinematics_constraint_aware),</li>\n\
  \      <li>an interpolated IK motion planner (package katana_interpolated_ik_motion_planner),</li>\n\
  \      <li>a grasp planner based on OpenRAVE (package katana_openrave_grasp_planner),</li>\n\
  \      <li>core functionality for pickup and place tasks (packages katana_object_manipulator,\
  \ katana_object_manipulation_launch),</li>\n      <li>a collision map for tabletop\
  \ manipulation (package katana_tabletop_collision_map_processing),</li>\n      <li>test\
  \ programs for move_arm, constraint aware IK and Gripper controller (packages katana_openrave_test,\
  \ katana_openloop_grasping), and</li>\n      <li>the top-level launch files for\
  \ the whole stack (package katana_tabletop_manipulation_launch).</li>\n    </ul>\n\
  \n    <p>This stack only runs under ROS Diamondback at the moment.</p>\n  "
doc_job: doc-electric-uos
license: GPL
msgs: []
package_type: stack
packages:
- katana_openrave_grasp_planner
- katana_tabletop_manipulation_launch
- katana_kinematics_constraint_aware
- katana_openrave_test
- katana_simple_grasp_planner
- katana_manipulation_tutorials
- katana_object_manipulation_launch
repo_name: katana_manipulation
srvs: []
timestamp: 1357732270.095047
url: http://ros.org/wiki/katana_manipulation
vcs: git
vcs_uri: http://kos.informatik.uni-osnabrueck.de/katana_manipulation.git
vcs_version: master
