Changing CloseFingers Speed and Depth

[Cescuder]

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)

[Alex]

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.

[Rosen Diankov]

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,
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.




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