This repository contains the ROS/Gazebo packages for the simulation of the Pisa/IIT hand:
- softhands_description - contains the urdf descriptions of the different versions of the hand
- softhand_plugin - contains the two Gazebo model plugins for simulating the hand
The above packages are tested on ROS Noetic and no external dependencies are required. To install the packages in this repository, clone it into your catkin workspace source folder (e.g., catkin_ws/src), checkout to the desired branch, and catkin_make.
cd catkin_ws/src
git clone https://github.com/NMMI/SoftHand-Plugin.git
cd ..
catkin_make
Three different versions (1.2, Wide and 3) of the SoftHand are present. Launch examples are present:
- To spawn a hand inside Gazebo
roslaunch softhands_description softhands_gazebo.launch sh_version:=v1_2_research
Available versions:
sh_version:=v1_2_research
sh_version:=v1_wide
sh_version:=v3
In order to open and close the softhand gazebo model with the plugin you have to publish on the following topic:
/right_hand_v1_2_research/synergy_command
The exampla is for the softhand v1_2_research right, so the topic is changed respect to the side and version, and the value has to be between 0(open) to 1(close):
rostopic pub /right_hand_v1_2_research/synergy_command std_msgs/Float64 "data: 0.0"
Hence the available topics are:
/right_hand_v1_2_research/synergy_command
/left_hand_v1_2_research/
/right_hand_v1_wide/synergy_command
/left_hand_v1_wide/synergy_command
/right_hand_v3/synergy_command
The softhand version 3 is still in working progress, therefore there is only the right side.
- M. G. Catalano, Grioli, G., Farnioli, E., Serio, A., Piazza, C., and Bicchi, A., “Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand”, International Journal of Robotics Research, vol. 33, no. 5, pp. 768–782, 2014 IJRR version (access required)