ROS packages to use Mia Hand with ROS tools and ROS control.
- Maintainer status: maintained
- Maintainer: Andrea Burani <andreabu AT prensilia DOT com>, Francesca Cini <francescaci AT prensilia DOT com>
- Author: Francesca Cini <francescaci AT prensilia DOT com>
- License: BSD
The Mia Hand
Mia is a robotic anthropomorphic end-effector, suitable in: flexible manufacturing plants, social and/or humanoid collaborative robots, bio-automation, ergonomics, prosthetics, human-machine interface research, and wherever a gripper with hand-like features may become handy. The three embedded motors allow to interact with the environment and to grasp objects and tools using power, precision and lateral grasps. Embedded force sensors allow to regulate the grasping force. Embedded functions and a simple control interface based on RS-232 makes integration seamless, saving you money and time. Being extremely lightweight (~500 g) but still powerful (up to 70 N grip force), Mia offers the good balance between flexibility and performance. Designed and engineered by Prensilia, Mia is made in Italy, and it has been awarded with the Red Dot Design Award 2019, and obtained the honorable mention in The Plan Award 2019. For additional info see Mia home page.
The mia_hand_ros_pkgs repository contains packages for controlling the robotic hand in real and in Gazebo simulated environment. This metapackage provides also URDF models of the hand and launch files.
Our code is split into different packages:
mia_hand_msgs: This package contains custom messages/services/actions for the Mia hand.
mia_hand_driver: This package contains the cpp driver library to communicate and control the real Mia hand. For further details please see the README.md file and the doxygen documentation (doc ) stored in the package.
mia_hand_ros_control: This package contains the hardware interface class that allows ROS controllers to send command to and receive joint states data from the Mia hand. This package contains also a list of pre-set ROS controllers that can be used to control the Mia hand in position or velocity. For further details please see the README.md file and the doxygen documentation (doc ) stored in the package.
mia_hand_gazebo: This package contains the hardware Sim interface class that allows to use the Mia hand within a Gazebo simulated environment. This package contains also a list of pre-set ROS controllers that can be used to control the simulated Mia hand in position or velocity. For further details please see the README.md file and the doxygen documentation (doc ) stored in the package.
mia_hand_moveit_config: This package contains all the configuration files needed to make Mia hand work with MoveIt. However, if needed custom configuration files can be generated following the MoveIt Setup Assistant tutorial.
Report a Bug
To report bug or issues please use bitbucket repo.
The development of the mia_hand_ros_pkgs repository was supported by by the European Commission under the Horizon 2020 framework program for Research and Innovation within the APRIL project (multipurpose robotics for mAniPulation of defoRmable materIaLs in manufacturing processes, number: 870142).