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Gazebo Simulation of the QBRobotics v1.2 and IIT SoftHandWide and IIT SoftHand_V3

1) Description

SoftHand

This repository contains the ROS/Gazebo packages for the simulation of the Pisa/IIT hand:

Packages

  • 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

2) Getting Started

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

3) Usage

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

4) Missing model

The softhand version 3 is still in working progress, therefore there is only the right side.

5) Relevant Publications

  • 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)

About

No description, website, or topics provided.

Resources

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BSD-3-Clause license
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2 stars

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9 watching

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5 forks
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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all \u003cpre\u003e\u003ccode\u003e blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks"); } } catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); } })(); (function(){ try { var __m = "github.com"; var __re = new RegExp('^' + "github\\.com" + '
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Gazebo Simulation of the QBRobotics v1.2 and IIT SoftHandWide and IIT SoftHand_V3

1) Description

SoftHand

This repository contains the ROS/Gazebo packages for the simulation of the Pisa/IIT hand:

Packages

  • 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

2) Getting Started

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

3) Usage

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

4) Missing model

The softhand version 3 is still in working progress, therefore there is only the right side.

5) Relevant Publications

  • 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)

About

No description, website, or topics provided.

Resources

Readme
BSD-3-Clause license
Activity
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Stars

2 stars

Watchers

9 watching

Forks

5 forks
Report repository

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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix"); } } catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
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Gazebo Simulation of the QBRobotics v1.2 and IIT SoftHandWide and IIT SoftHand_V3

1) Description

SoftHand

This repository contains the ROS/Gazebo packages for the simulation of the Pisa/IIT hand:

Packages

  • 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

2) Getting Started

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

3) Usage

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

4) Missing model

The softhand version 3 is still in working progress, therefore there is only the right side.

5) Relevant Publications

  • 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)

About

No description, website, or topics provided.

Resources

Readme
BSD-3-Clause license
Activity
Custom properties

Stars

2 stars

Watchers

9 watching

Forks

5 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length \u003e 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms"); } } catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
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Repository files navigation

Gazebo Simulation of the QBRobotics v1.2 and IIT SoftHandWide and IIT SoftHand_V3

1) Description

SoftHand

This repository contains the ROS/Gazebo packages for the simulation of the Pisa/IIT hand:

Packages

  • 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

2) Getting Started

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

3) Usage

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

4) Missing model

The softhand version 3 is still in working progress, therefore there is only the right side.

5) Relevant Publications

  • 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)

About

No description, website, or topics provided.

Resources

Readme
BSD-3-Clause license
Activity
Custom properties

Stars

2 stars

Watchers

9 watching

Forks

5 forks
Report repository

Releases

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Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links"); } } catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); } })(); (function(){ try { var __m = "youtube.com"; var __re = new RegExp('^' + "youtube\\.com" + '
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Repository files navigation

Gazebo Simulation of the QBRobotics v1.2 and IIT SoftHandWide and IIT SoftHand_V3

1) Description

SoftHand

This repository contains the ROS/Gazebo packages for the simulation of the Pisa/IIT hand:

Packages

  • 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

2) Getting Started

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

3) Usage

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

4) Missing model

The softhand version 3 is still in working progress, therefore there is only the right side.

5) Relevant Publications

  • 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)

About

No description, website, or topics provided.

Resources

Readme
BSD-3-Clause license
Activity
Custom properties

Stars

2 stars

Watchers

9 watching

Forks

5 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default"); } } catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
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Repository files navigation

Gazebo Simulation of the QBRobotics v1.2 and IIT SoftHandWide and IIT SoftHand_V3

1) Description

SoftHand

This repository contains the ROS/Gazebo packages for the simulation of the Pisa/IIT hand:

Packages

  • 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

2) Getting Started

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

3) Usage

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

4) Missing model

The softhand version 3 is still in working progress, therefore there is only the right side.

5) Relevant Publications

  • 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)

About

No description, website, or topics provided.

Resources

Readme
BSD-3-Clause license
Activity
Custom properties

Stars

2 stars

Watchers

9 watching

Forks

5 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers"); } } catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
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Repository files navigation

Gazebo Simulation of the QBRobotics v1.2 and IIT SoftHandWide and IIT SoftHand_V3

1) Description

SoftHand

This repository contains the ROS/Gazebo packages for the simulation of the Pisa/IIT hand:

Packages

  • 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

2) Getting Started

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

3) Usage

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

4) Missing model

The softhand version 3 is still in working progress, therefore there is only the right side.

5) Relevant Publications

  • 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)

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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode"); } } catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); } })(); })();
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Gazebo Simulation of the QBRobotics v1.2 and IIT SoftHandWide and IIT SoftHand_V3

1) Description

SoftHand

This repository contains the ROS/Gazebo packages for the simulation of the Pisa/IIT hand:

Packages

  • 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

2) Getting Started

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

3) Usage

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

4) Missing model

The softhand version 3 is still in working progress, therefore there is only the right side.

5) Relevant Publications

  • 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)

About

No description, website, or topics provided.

Resources

Readme
BSD-3-Clause license
Activity
Custom properties

Stars

2 stars

Watchers

9 watching

Forks

5 forks
Report repository

Releases

Packages

Contributors

Languages