grasp_synergy_adapter

A ROS 2 adapter that drives multi-finger robot hands through predefined grasp synergies, mapping one normalized coordinate onto joint trajectories.

Licenses

Code: Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit ae2ab0a (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

Each grasp profile is a piecewise-linear path through joint space, with knots sorted by normalized coordinate from 0.0 (preparation posture) to 1.0 (final grasp posture).
Normalized commands are converted into joint trajectories, with intermediate knots preserved when opening and closing.
Measured joint feedback is projected onto the selected grasp path.
Each profile exposes a trajectory topic and a FollowJointTrajectory action; only one action may run across all grasp endpoints at a time.
Commands are rejected until fresh feedback is available for every configured joint.
Grasp profiles are defined in a YAML parameter file and validated without connected hardware.

Written by Robotheca from the project's README (opens in a new tab) at commit ae2ab0a.

Difficulty: Intermediate
Hardware it needs, as the project states it: ROS 2 Jazzy on Ubuntu 24.04, built from source; a multi-finger hand running a ros2_control JointTrajectoryController. Binary packages are not yet published.
How to start: The project's README (opens in a new tab)

Checked on GitHub on 16 Oct 2026.

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.