Smoother wall grasp transition?

SoMa-Project / ec_grasp_planner

Grasp Planner Based on Environmental Constraint Exploitation

BSD 3-Clause "New" or "Revised" License

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Smoother wall grasp transition? #45

Closed JessyVision closed 5 years ago

JessyVision commented 5 years ago

Manuel proposed to add a controller to smooth the wall grasp transition between slide and hand_close. An option could be a joint controller with low gains to fulfil the locking function.

JannisW commented 5 years ago

The fix was merged to master with PR #57

It can be turned on/off by using the soften_impact parameter in handarm_parameters.py