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LeaderJointStates -> FollowerJointCommands
Map coordinate frames and joint angles from a manual teleoperation leader interface to scaled actuation target profiles on a physical follower manipulator.
Problem it solves
Manual control inputs must align with target manipulator kinematics and scaling bounds in real-time.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.