QB Robotics SoftHand2 Research General Manual page 36

32 — SOFTWARE
<robot_package>_control/config/<robot_name>_waypoints.yaml
where
robot_name
Customization
You can modify the waypoint trajectory to replicate the behavior you want: either change the
<robot_package>_control/config/<robot_name>_waypoints.yaml
application-specific file in the
properly when launching the command from the terminal.
robot_name
The waypoint configuration is as follows:
waypoints:
-
time: [2.0]
joint_positions:
qbhand2m1: [0.0, 0.0]
-
time: [4.0]
joint_positions:
qbhand2m1: [0.48, 1.0]
-
time: [8.0]
joint_positions:
qbhand2m1: [0.48, 1.0]
-
time: [9.0]
joint_positions:
qbhand2m1: [0.48, 0]
-
time: [10.0]
joint_positions:
qbhand2m1: [0.0, 0]
The previous configuration works with a device with ID 1. If a device with different id is used

you have to change the device name (i.e.
3. API Control
If you need a complex (i.e. real) control application, e.g. the qb SoftHand2 Research is mounted on a robot
which uses computer vision aid to grasp objects, the previous two control modes don't really help much.
What we provide for real applications is the full ROS libraries to manage and control the qb SoftHand2
Research.
GENERAL MANUAL — SEP 8, 2022 — RELEASE: V1.0.2
and
robot_package
config
are two additional launch file arguments.
directory. In the second case you need to set the argument
in the previous file).
qbhand2m1
or add another custom