🤖 ROS 2 Robotic Hand Simulation (Digital Twin)

A ROS-based digital twin with full finger articulation and wrist rotation in RViz2.

Project Snapshot

My work	Built the ROS 2 control package, launch modes, motion sequencing, input smoothing, and RViz configuration around the DexHand V2 model
Stack	ROS 2, Python, URDF, RViz2, MediaPipe, Colcon
Demo	Preview the animation below or run ros2 launch dexhand_control advanced_control.launch.py mode:=demo

🎥 Simulation Motion Preview

📖 Overview

This package contains a high-fidelity ROS 2 simulation of the DexHand V2 robotic hand, featuring full finger articulation and wrist rotation.

It is designed to act as a Digital Twin, allowing you to visualize and control the hand's orientation in 3D Cartesian space using RViz2 and GUI sliders.

---

⚙️ Prerequisites

• ROS 2 (Humble, Iron, or Foxy)
• Colcon build system
• Python 3

---

📥 Installation & Setup

1. Create a Workspace (if you haven't already)

mkdir -p ~/Hand_Sim/src
cd ~/Hand_Sim/src

2. Clone the Repositories

You need both this control package and the official DexHand V2 description repository (for the URDF and mesh files):

# 1. Clone this simulation/control package
git clone https://github.com/paneendrakumar0/Robotic-Hand-Simulation-in-ROS2.git

# 2. Clone the DexHand V2 description package (Required for visual model)
git clone https://github.com/iotdesignshop/dexhandv2_description.git

3. Install Dependencies

cd ~/Hand_Sim
rosdep install --from-paths src --ignore-src -r -y

4. Build the Package

cd ~/Hand_Sim
colcon build --symlink-install
source install/setup.bash

---

🚀 Usage & Modes

This package supports multiple execution modes:

1. High-Fidelity Demo Mode (No Camera Required)

Plays an automated, continuous range-of-motion demonstration loop (fist clenching, waving, sequential finger counting, and thumbs-up) with wrist translations/rotations. Perfect for system verification and presentations.

ros2 launch dexhand_control advanced_control.launch.py mode:=demo

2. Camera Hand Tracking Mode (MediaPipe)

Uses your webcam to track your hand gestures and wrist roll dynamically, mirroring them onto the digital twin in real time.

ros2 launch dexhand_control advanced_control.launch.py mode:=camera

---

🎮 Out-of-the-Box RViz2 Visualization

This package includes a pre-configured RViz2 layout (config/dexhand.rviz). When you run the launch file:

• The Fixed Frame is automatically set to world (to visualize free-space movements relative to the grid).
• The RobotModel and TF displays are pre-loaded and configured.
• A high-contrast dark background theme is loaded for a premium visualization aesthetic.

No manual display setup or frame configuration is required!

---

📂 File Structure

• dexhand_control/ - Python controller logic (featuring OneEuro filter smoothing and dynamic demo/camera modes).
• launch/ - ROS 2 launch files (advanced_control.launch.py).
• config/ - Pre-configured RViz2 configuration (dexhand.rviz).
• resource/ - ROS 2 package resources.
• setup.py - Installation and entry point configurations.

---

🤝 Contributing

Contributions are welcome! Please fork the repository and submit a pull request.

📞 Contact

• Developer: Paneendra Kumar
• Email: paneendra100@gmail.com