Fine Motor Control

The gripper motor can be controlled precisely by position or instructed to grip with a certain force. Note that the gripper must be first calibrated.

The fine position control is done through the same interface as in Motor Control.

The grip with a precise force can be requested through the r1_gripper/ForcePercentage and r2_gripper/ForcePercentage services. The force control is canceled by requesting the service with parameter 0 as force.