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Published 20 hours ago • verified publisher icon graspit-simulator

SetRobotDesiredDOF problem

Open emigmo opened this issue 7 years ago • 1 comments

Hi, Is it available to set the robot desired DOF effort? in srv/SetRobotDesiredDOF, no dof effort defined and just dofs and dof_velocities.

emigmo avatar Jun 15 '17 16:06 emigmo

Unfortunately GraspIt! currently runs a controller internally that sets DOF efforts based on current DOF values and desired DOF values. I have started to play with disabling that, but I don't believe it is pulled into mainline graspit at this time.

Check out the versions of graspit, graspit-interface etc in the GraspControl org: https://github.com/GraspControl/graspit_interface/blob/master/src/graspit_interface.cpp#L375 https://github.com/GraspControl/grasp_controller/blob/master/grasp_controller.py#L18

jvarley avatar Jun 15 '17 23:06 jvarley