Hi,<br><br>In the reactive_grasp, the compliant_close function is not using the grasp posture from the database. I understand that it can work for the gripper, but for a more complex hand such as ours, I believe it would be a good start to have access to this grasp posture here. <br>
<br>What I wanted to do in the reactive grasp, was (as a first approach): <br> - interpolate between current posture of the hand and &quot;closed posture&quot; (read from the database), while checking for contacts. <br> - when I have a contact on one finger, I stop moving this finger. <br>
 - when all fingers are touching lightly the object, close until force &gt; X<br><br>Is it not the purpose of the reactive_grasp server? Should I do that in my standard static grasp? Do I need to query my databases in my reactive_grasp node to get the list of possible grasps, or would it be possible to extend the content of the ReactiveGraspGoal message, so as to include this information?<br>
<br>I hope my questions make sense, otherwise feel free to ask me for more info!<br><br>Cheers,<br><br>Ugo<br clear="all"><br>-- <br>Ugo Cupcic | Shadow Robot Company | <a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a> <br>
Software Engineer | 251 Liverpool Road | <br>need a Hand? | London N1 1LX | +44 20 7700 2487 <br><a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a> @shadowrobot <br><br>