Introduction
With time and resources and an interesting project I liked, I decided to reach out to the owner, to offer Moveit contribution of controlling the Hand. Trent Shumay was working on the firmware side, while I contributed from higher level, the Moveit2 side. while the code was not integrated to DexHand1, it paved the way for dexHand2 Moveit2 integration.
This blog post documents the work produced as the DexHand1 project is sunsetted , but you can follow DexHand
Activites:
General literature review of available common hands from a control standpoint, such as shadow hand, chunk hand and leap hand.
I got to run dex hand package and make a moveit package to control the robot through joint state.
I also cleaned up some of the URDF, the control produced, which can be found in github control the finger chain one at a time, but it can be done in parallel.
I have attached the prep work here
investigationDocument
This is the end result: Click the image to see the video
Conclusion:
During this journey I had the pleasure with working alongside smart people. I also learnt even open source projects require dedication and commitment. In addition, there is a need to connect like minded people on projects together.