finger not accurate about ada

[mkoval]

The fingers are underactuated (two joints on each finger, but only one motor). Accurately modeling the fingers in simulation would require actually running a physics simulator with a model of the joint mechanism. This is very complicated and unlikely to produce physically plausible results so, instead, we model the distal joints as a mimic joint. You can see this in the official Kinova URDF file.

This happens on the real robot, too, because there are no position sensors on the distal joints.

[mkoval]

I am closing this issue because there is nothing we can do about this - this is a limitation of the hardware.

However, it would be useful to put this information in a more prominent location. @Shentheman could you add a note to the README about this?

[shenlirobot]

Ok! Sure! I will test it again and add some data also.

On Nov 2, 2015, at 9:41 PM, Michael Koval [email protected] wrote:

I am closing this issue because there is nothing we can do about this - this is a limitation of the hardware.

However, it would be useful to put this information in a more prominent location. @Shentheman https://github.com/Shentheman could you add a note to the README about this?

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Thank you so much!
Sincerely
Shen Li

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