====== Hand/arm simulator for the Kuka arms and DLR/HIT hands ======

You can run a system that simulates the impedance and damping control of the arms and hands on TUM-Rosie.

  * Run the hand simulator.

  cd ias_manipulation_nonfree/sahand_api
  ./sahand_yarp.py -s -d -n

  * Run the arm motion control in simulation mode:

  cd ias_manipulation/arm/motionControl/
  ./system_start.sh -r lwr -i right -s
  ./system_start.sh -r lwr -i left -s

  * Run the robot visualizator.

  cd ias_manipulation/arm/motionControl/
  ./roboviewer.py -r lwr --arm_left --arm_right --hand_left --hand_right

  * Run the torque simulation module.

  cd ias_manipulation/arm/motionControl/
  ./torque_sim.py -s

===== How to use it =====

Once the system is running you can send forces to the finger tips in the yarp port /torque_sim/force_in . An example:

  (1 -1 0 0) (2 -1 0 0 )

The format is: (finger_number force_x force_y force_z). Multiple fingers can be controlled in one single yarp write.

===== Calibrating the finger angles and torques =====

  cd ias_manipulation/hand/hand_cartesian

edit file ./calibrate_hand.py and change fingers_to_calibrate to configure the fingers you want to calibrate. Only right hand is supported.