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MARS manipulation combines arm interfaces, controllers, and learned policy execution.

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What to know

  • Arm state is exposed through joint-state topics
  • Motion commands can be sent through arm services/interfaces
  • Learned manipulation policies are deployed as skills in the higher-level stack

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Useful checks

ros2 topic echo /joint_states
ros2 topic echo /mars/arm/state
For high-level usage, see Capabilities.