This controller satisfies the ros control interface to followJointTrajectorys so that this package can work with MoveIt!. The controller will follow a given trajectory via a guarded move. Each finger will stop independently if the finger's tactile sensors record contact above a threshold. This node also exposes an interface in which clients can query the hand to learn where contact occurred after execution.
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Controller for the Barrett Hand. For guarded execution of trajectories.
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