Two-Hand Gesture-based Teleop

Follow the tutorial to get the right and left hand drivers up and running. Then,

rosrun sandia_hand_teleop simple_grasp_keyboard_teleop.py

That node will publish to the topics right_hand/simple_grasp and left_hand/simple_grasp using PyGame to capture raw keyboard input. Every time a key is pressed, a message is sent to the grasp server to request the grasp associated with that key. It's a simple program that really is just mapping keystrokes to SimpleGrasp messages.