SetRobotDesiredDOF problem

[emigmo]

Hi, Is it available to set the robot desired DOF effort?
in srv/SetRobotDesiredDOF, no dof effort defined and just dofs and dof_velocities.

[jvarley]

Unfortunately GraspIt! currently runs a controller internally that sets DOF efforts based on current DOF values and desired DOF values. I have started to play with disabling that, but I don't believe it is pulled into mainline graspit at this time.

Check out the versions of graspit, graspit-interface etc in the GraspControl org:
https://github.com/GraspControl/graspit_interface/blob/master/src/graspit_interface.cpp#L375
https://github.com/GraspControl/grasp_controller/blob/master/grasp_controller.py#L18