Human Hand Model

This package is derived from the pisa_hand_description package

Usage

The hand URDF model is loaded and displayed with this launch command

roslaunch human_hand_description display.launch tactile_mapping:=<mapping>

mandatory arguments:

• tactile_mapping: P3r | P3l | P2 | P1

optional arguments:

• robot_name: human_hand
• use_synergy: true | false
• scale: 1.0 (default)
• calibrated: true | false
• side: '' (read from taxel.yaml)| 'left' |'right'

Advanced Usage

Directly upload the human_hand_description with the file upload.launch

mandatory arguments:

• tactile_mapping: P3r | P3l | P2 | P1 (see taxel.yaml)

optional arguments:

• use_synergy: true | false
• scale: 1.0 (default)
• calibrated: true | false
• side: '' (=read from taxel.yaml)| 'left' |'right'
• gui: true | false
• jsp: true | false
• tactile_channel: "tactile glove" (default)
• prefix: "" (default)
• property_file: "" (default= found in human_hand_description package)
• mapping_file: "" (default= found in human_hand_description package)

Acknowledgment

authors:

• Guillaume Walck gwalck@techfak.uni-bielefeld.de
• Robert Haschke rhaschke@techfak.uni-bielefeld.de

original authors (Pisa):

• r.nuti@hotmail.it
• carlos@beta-robots.com
• matteo.bianchi@centropiaggio.unipi.it
• e.battaglia@centropiaggio.unipi.it