manipulation of an object with a single 6 DOFs arm in Gazebo.

[Hamid-Manouchehri]

main_single_arm.py is the main algorithm which calculates desired torques of a single arm manipulating an object. Simulation is after grasping the object. The object is connected via a fixed joint to the hand link. TaskToJoint method projects desired trajectory of object (in Cartesian space) to joint space based on this paper. Due to orientation of object, servo controlling of robot must be in quaternion space according to this paper, equation #4. The problem is that the desired orientation of object does not track perfectly and has some drift.
@liesrock