Hi Andrew,<br>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.<br>John<br><br><div class="gmail_quote">On Sun, May 9, 2010 at 11:13 AM, Andriy Stefanov <span dir="ltr">&lt;<a href="mailto:andriy.stefanov@googlemail.com">andriy.stefanov@googlemail.com</a>&gt;</span> wrote:<br>

<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi guys,<br><br>I&#39;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.<br>

What could i do for getting the cup coordinates?<br>
<br>thx,<br>Andrew<br>
<br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br>