Module description

This module allows to carry out a two-finger stable grasp by means of a controller developed using reinforcement learning. First, the fingers move towards the object and stop as soon as a contact is detected, then the hand configuration changes to improve stability.

Dependencies

• numpy (on Linux type apt-get install python-numpy)

How to run

• run skinManager
• run plantIdentification --whichHand <hand> --icub <icub>, where:
  • <hand> is the hand to use (left/right)
  • <icub> is the iCub to use (iit_black/iit_purple/tum_darmstadt)
• run python gpControllerStableGrasp.py