This assumes that you have gone through the previous tutorials and everything has worked thus far.

It also assumes that  sandia_hand_node  is still running in its own terminal, and the  simple_grasp.py  service is also still running in its own terminal.

Get a new terminal and be sure to source  ~/sandia-hand-ws/devel/setup.bash 

Then, purchase a Korg nanoKONTROL2 and plug it in.

Since the Korg widget comes up as a MIDI controller in Ubuntu, this demo will use the PyGame MIDI library to talk to it. First, we'll need to install this library:

sudo apt-get install python-pygame

Now we can run the demo:

rosrun sandia_hand_teleop simple_grasp_nanokontrol2.py

First, press the button labeled "cylinder" (the "rewind" button on the USB slider widget). Then, you can slide the first slider up and down, and it will go through a cylindrical grasp. Repeat for "sphere" (spherical grasp = the stop button) and "prism" (prismatic grasp = the stop button). You can also push the "play" and "record" button for other static gestures.