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…ng pick commands. now job_runner.cpp has to be modifyed in order to recognize those commands
…grasp types. orchestrator now also relays the contents of a new grasp_type list inside of gripping_parameter.py to the job runner. the graps methods inside of jub_runner.cpp cannot be trusted atm, bc they most likely calculate their poses wrongly. this has to be updated later on
… mia hand seems to be unavailable even if the full manipulation simulation is started, so it has to be tested on the real deal
…onresponse. orchestrator.py should now be able to request an object and get a response that includes grasp type. grasp type has been proven to be executed correctly by publishing it to /orchestrator/action which is correctly interpreted by orchestrator_listener.cpp
…ect specific grasp types out of gripping_parameter.py and also correctly execute them. also added a warning to handmotion.hpp regarding the current non-functionality of spherical and tridigital grasp
…e base wont start. will probalby get reverted in the long run, depends if i get a real code editor running on the jetson (not just vim...)
…om orchestrator to resulting hand motion tested and funktional. spherical and tridigital still implemented, yet nonfunctional. keep that in mind
… latest functionality implementations
…markdown linter to comply this time
…arlab/doc. - final
…t I can push documentation changes.
…digital grasps are not mapped on hardware yet.
marcane17
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Sep 1, 2026
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Sieht gut aus und die Doku ist überdurchschnittlich. Da es ja auch auf der Hardware getestet ist --> approved
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Objects of different shapes require grasps of different types.
Configure the way you'd like your object to be grasped in /code/arlab_manipulation/arlab_manipulation/services/gripping_parameter.py.