ihmc-open-robotics-software
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ihmcrobotics
Support hand state and control in sim
Originally reported by: Maurice Fallon (Bitbucket: mauricefallon, GitHub: mauricefallon)
Publishing the Valkyrie hand state (i.e. joint angles) and control of the hands (open/close/position) isn't currently exposed in simulation. Could this be added?
Some hand state integration of Atlas used to exist in AtlasObstacleInterfaceDemo, but that has now been removed I believe.
( @dljsjr suggested you wanted to make the sim interface more complete)
- Bitbucket: https://bitbucket.org/ihmcrobotics/ihmc-open-robotics-software/issue/3
Original comment by Maurice Fallon (Bitbucket: mauricefallon, GitHub: mauricefallon):
" but I don't believe hand control was ever exposed via the ROS API (it was available in the IHMC packet API). "
I think you're right there - just used it in your UI a while back
Original comment by Doug Stephen (Bitbucket: dljsjr, GitHub: dljsjr):
The software-side of the physical Valkyrie robot's hands is still under development, and we're waiting to get an idea of what that API is going to look like before we implement it. The Atlas sims had hand feedback but I don't believe hand control was ever exposed via the ROS API (it was available in the IHMC packet API).