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--- tutorials:object_manipulation_system [2019/10/01 00:59] – [Execute with Whole robot] Update commands with real robot namespace dgarcia
+++ tutorials:object_manipulation_system [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 80: / Line 80: @@
   python glue.py
+If you want to run with the finger calibration
+  cd ~/local/src/cmoc/objects/sliding/sctipts
+  python glue.py -c ~/local/src/robot_descriptions/arcosbot/kinematics/sahand/calibration_data/finger_calibration_data.py -n /arcosbot-real
 If you want to ignore **OMS** commands and move the robot from the keyboard add the ''-g'' option. This will only ignore the commands that come from the robot interface, but it will still send the end effectors state back to **OMS**, so that the robot can still interact with the objects.
@@ Line 113: / Line 118: @@
     "robot_carrier": "tcp",
     "vis_carrier": "tcp",
+    "perceived_object": "clorox",
     "frequency": 60
 }