It is possible to change fingers speed when using closefingers? I want to make this function instantly(if possible)
And it is also possible change the depth when these closing fingers collide with an object? This is for having more contact points when fingers are closed)
Carlos Rubert.
Researcher at Robotic Intelligence Laboratory. Universitat Jaume I (Spain) |
I found that you can make the finger closing "instant", or at least faster, if you do the following:
TaskHand = interfaces.TaskManipulation(robot) final, traj = TaskHand.CloseFingers(execute=False, outputfinal=True) robot.SetDOFValues(final) The 'execute=False' turns off the visualization of the hand closing and the 'SetDOFValues' will set the joints to the final grasp configuration. Setting the joints is much faster than waiting for the trajectory visualization to complete. I am not sure if the final joint output includes all of the robot joints or just the hand joints. You may need to include some joint indicies when setting DOF's if the joint list is only for the hand. |
Administrator
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final is only the griper joints, so the following would be more correct: robot.SetDOFValues(final, manip.GetGripperIndices())
2014-03-09 6:35 GMT+09:00 Alex <[hidden email]>: I found that you can make the finger closing "instant", or at least faster, ------------------------------------------------------------------------------ Learn Graph Databases - Download FREE O'Reilly Book "Graph Databases" is the definitive new guide to graph databases and their applications. Written by three acclaimed leaders in the field, this first edition is now available. Download your free book today! http://p.sf.net/sfu/13534_NeoTech _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
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