Package contains user interface in form of RVIZ plugin (ROS Electric) for srs_assisted_grasping.
When doing grasping, the user can select object category and then press Grasp button. Categories are predefined in configuration file. Each category has a name, target configuration of SDH joints and desired forces for all fingers. In the UI, user can see names and corresponding maximum forces. After executing the grasp, user can decide if it was successful using tactile data visualization.