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| 2013-02-07 14:41:00 -0500 | answered a question | sanida hand grasp controllers The simple_grasp controllers were purely intended for demonstration, just to show the hands moving in the simulator. Presumably the grasp controllers would need to be much more sophisticated to accomplish the range of tasks of the VRC. Importantly, real grasp controllers would likely need to use more features of osrf_msgs::JointCommands messages (e.g., torque limits). The source for the simple_grasp controller is here. It's pretty short. It just does a minimal eigengrasp implementation of a few canonical grasps: cylindrical, spherical, and prismatic. I have updated the wiki to clarify that this is only a strawman implementation for tutorial purposes. |
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