Soft Hand model

If you want to use the Pisa/IIT soft hand in your URDF, you can do so by including the model:

<xacro:include filename="$(find softhand_description)/model/soft_hand.urdf.xacro"/>

And then, using as many hands as you want as:

<xacro:soft_hand name="MYHAND" parent="PARENT" 
                 withAdaptiveTransmission="true" useMimicTag="false" left="true">
  <origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:soft_hand>

Where:

name is the name of your hand, it is useful for namespaces, controllers, etc.

parent is the link you are attaching your hand to, placed at <origin...

withAdaptiveTransmission used for simulation purposes for now.

useMimicTag is to have only one joint that controls all joints in a pure-kinematics-like motion, it affects only the visualization. In simulation, the mimicking is done by the hardware interface, and in real, you only have one motor reading.

left is to define whether you are using a right or left hand.

Changelog for package softhand_description

0.0.33 (2018-03-08)

0.0.32 (2018-02-27)

0.0.31 (2018-02-26)

0.0.30 (2018-01-25)

0.0.29 (2017-09-05)

0.0.28 (2017-09-04)

0.0.27 (2017-06-28)

0.0.24 (2017-02-20)

0.0.23 (2017-02-13)

• renamed soft_hand_description package to softhand_description
• Contributors: ipa-nhg
• renamed soft_hand_description package to softhand_description
• Contributors: ipa-nhg

0.0.22 (2016-09-28)

0.0.21 (2016-09-15)

0.0.20 (2016-09-07)

0.0.19 (2016-07-11)

0.0.18 (2016-05-10)

0.0.17 (2016-04-14)

0.0.16 (2016-04-11)

0.0.15 (2016-04-10)

0.0.14 (2016-04-06)

0.0.13 (2016-03-02)

0.0.12 (2016-02-24)

0.0.11 (2016-02-22 15:45)

0.0.10 (2016-02-22 09:51)

0.0.9 (2016-02-17)

0.0.8 (2016-02-04)

0.0.7 (2016-02-02)

0.0.6 (2016-02-01)

0.0.5 (2016-01-20 17:53)

0.0.4 (2016-01-20 17:26:08 +0100)

0.0.3 (2016-01-20 17:26:08 +0100)

0.0.2 (2016-01-13)

0.0.1 (2015-12-16)