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DRCL-USC / Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
https://youtu.be/NcW-NFwjMh0
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Possibility of finger gripper? #17

Closed ramkumarkoppu closed 5 months ago

ramkumarkoppu commented 5 months ago

Hi,

If I want to have finger gripper to the hand, how to use it in this simulator please?

junhengl commented 5 months ago

We plan to include a two-finger gripper in the HECTOR V2 simulation for manipulation control. Still working on it, and will have some updates in the next months. If you wish to use it now, please consider manually adding additional joints to the xacro model and updating joint controllers for them as well in ROS.