Schunk SVH Description

The Schunk SVH Robot Description package contains XACRO and URDF models of the Schunk SVH hand. You can use this package to visualise and integrate the hand with your robots. We support ROS1 and ROS2.

For examples of how to integrate each device look at urdf/*.urdf.xacro files. These attach the device to a fixed world link for visualisation. Each device is defined as a XACRO in the corresponding *.xacro file. When included a macro for attaching the device to the robot will be defined. Each macro has a prefix (for uniquely naming all added links and joints), parent (parent link to attach the device to), origin (relative offset block), side (left=-1, right=1), palm fixing (freezes palm mimic joint), and overall fixing (turns all joints to fixed joints for display use cases).

To see the device in RViz, see example launch files in launch/.