This package is derived from the human_hand_description package (which in turn is based on pisa_hand_description).
This package models the human arm starting from the elbow joint. Thumb joint limits inspired by: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3653006/
The arm URDF model is loaded and displayed with this launch command
roslaunch human_arm_description arm_display.launch
optional arguments:
- use_synergy: true | false (enable/disable single joint for finger grasp motion; defaults to true)
- scale: float (scale the model to an arbitrary size; defaults to 1.0)
- side: right | left (construct a left or right arm model)
The motion_server node can be used to save gestures with a service call or
used to replay gestures by linear interpolation either from the current pose or
an optionally provided starting gesture.
The motion_director node reads a config with a series of motions which get
dispatched to the motion_server.
author:
- David Leins dleins@techak.uni-bielefeld.de
original authors (human_hand):
- Guillaume Walck gwalck@techfak.uni-bielefeld.de
- Robert Haschke rhaschke@techfak.uni-bielefeld.de
original authors (pisa_hand):