mia_hand_description  rel 1.0.0
mia_hand_description

The following run instruction was tested in ROS noetic to display mia hand in rviz without showing the coupling between the index flexion and the thumb opposition joint:

roslaunch mia_hand_description view_mia_hand_rviz.launch

The following run instruction was tested in ROS noetic to display mia hand in rviz showing the coupling between the index flexion and the thumb opposition joint:

roslaunch mia_hand_description view_mia_hand_rviz.launch remap_MIA_th_opp:=True

Other inputs arguments of the launch file are:

Rviz_on:                default="true"                   doc="True to start Rviz and the joint state gui".
use_joint_gui:          default="true"                   doc="Enable the joint_state_publisher use a GUI for controlling joint states".
UR_Flange:              default = "false"                doc="True to visualize the UR flange with the Mia Hand".
remap_MIA_th_opp:       default="false"                  doc="True to remap the thumb opp joint position following the index fle position.
hw_interface_thumb_fle: default="PositionJointInterface" doc="Type of hardware intereface to load in the mia_hand_gazebo.urdf.xacro file for the index flexion joint.
hw_interface_index_fle: default="PositionJointInterface" doc="Type of hardware intereface to load in the mia_hand_gazebo.urdf.xacro file for the thumb flexion joint.
hw_interface_mrl_fle:   default="PositionJointInterface" doc="Type of hardware intereface to load in the mia_hand_gazebo.urdf.xacro file for the mrl flexion joint.
robotNamespace:         default="mia_hand"               doc="Name space of the robot and its releated topics"