Question

Hi, I can, with Schunk Hand call:

rostopic pub /svh_controller/channel_targets sensor_msgs/JointState "header:
    seq: 0
      stamp: {secs: 0, nsecs: 0}
      frame_id: ''
    name: 
['Index_Finger_Proximal','Index_Finger_Distal','Middle_Finger_Proximal','Middle_Finger_Distal','Ring_Finger','Pinky','Finger_Spread','Thumb_Flexion']
    position: [0.8,1.3,0.8,1.3,0.9,0.9,0.5,0.3]
    velocity: [0,0,0,0,0,0,0,0]
    effort: [0,0,0,0,0,0,0,0]"

can I correct desired position for better grip during the grasp?

Asked by Alba on 2015-05-05 09:08:46 UTC

Answer 1

Hi,

you can always send new target positions, regardless of what the SVH is currently doing. The new values will become the target values. So if you have an active grip and want to change a position slightly you might of course do that. Please also note that the "quick_commands" file is meant as an example to give you an idea of how to use the driver. You can of course give it arbitrary values.

Also keep in mind that the Hand is also current controlled, so if you give a position that can not be reached due to blockage of the hand (for example by an object to grasp) the current controller will try to increase the current up to the maximum allowed value to get there in order to "reach the position". So your grip depends on the force the hand is trying to exert in order to move the fingers to a target position which might be relevant for your considerations.

Best Regards Georg

Asked by heppner on 2015-06-06 08:37:03 UTC

Schunk_svh_driver: channel_targets

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