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Barrett WAM/Hand interface ros-pkg

This ROS package repository contains an interface for the Barrett WAM and Hand, written for/by MIT's Learning and Intelligent Systems group (run by Profs. Leslie Kaelbling and Tomas Lozano-Perez).

It includes:

  • A plain socket interface (that can be used without ROS) for both 7-DOF arm and hand
  • ROS interface for the arm and hand
  • Two versions of inverse kinematics (analytical and optimization-based) for the 7-DOF arm
  • Interface for using ATI Nano17 6-axis force/torque sensors as fingertip sensors.

(more details in the README)

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