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2016-04-30 12:49:14 -0600 asked a question Gazebo HAPTIX, can't grasp objects when using motion tracking

I work with Gazebo HAPTIX(http://gazebosim.org/haptix). Before i use keyboard to control the arm to grasp objects and it worked fine. Then i add the motion tracking system and use function hxs_set_model_transform (const char *_name, const hxsTransform *_transform) to control the arm in the simulator, i put this function in a while loop and update it at the frequency of 50Hz. Then i cannot grasp objects anymore. Is there anything wrong with using this function?

2016-02-12 11:24:41 -0600 asked a question HAPTIX MPL hand model, ring and little finger move slower than others

Hi, I am using HAPTIX plugin in Gazebo, with the MPL hand model. What i find is when i try to move all the fingers simultaneously, they are not moving at the same speed. Obviously the index and middle finger move faster than the ring and little finger. I tried to increase the gain but the same, so i think it is the model setting. Does anyone know the reason? If so, why do people set in this way?