Hi Andrew,
One way to do this is to use a p3d plugin, see attached model for example.
The coffee cup position will be broadcasted as ROS topic
cup_pose_ground_truth.
John

On Sun, May 9, 2010 at 11:13 AM, Andriy Stefanov <
andriy.stefanov@googlemail.com> wrote:

> Hi guys,
>
> I'm training on a gripping program and want to get the position of the
> coffee cum i a world (simulating in gazebo) so pr2 can calculate the
> trajectory and grasp it.
> What could i do for getting the cup coordinates?
>
> thx,
> Andrew
>
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