Skip to content

ARMAR-DE+7 hand: adding todos and draft of desired impl.

Fabian Reister requested to merge feature/improved-hand-unit-design into main

The current design of the hand unit / hand wrapper / shape controllers does not scale. There is too much custom / individual code which is not needed at all. Therefore, @utetg_groeger, please have a look at the current draft and comments.

Although I only changed files related to ARMAR-DE, the goal is to also make it immediately work for ARMAR-7. The implementation is similar.

Also, please define the preshapes for ARMAR-DE and ARMAR-7 https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/models/-/merge_requests/10

Merge request reports