set joint values of human hand in graspit

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Hi, Am new to ROS, is there any package available through which i can set the joint values for a human hand (cyberglove) either through the command line or read values from a file in the graspit simulator? I can get the Position values using Pose method from the geometry_msgs but couldn't find setJointValues or setJoint to do so. In the eigenGrasp gui of the simulator there's a slider available to set the amplitude value for each joint, but i need to control the joints either through plugin or command-line tool.

Thanks