OpenMRH: A modular robotic hand generator plugin for OpenRAVE

In this work, the open-source plugin OpenMRH is presented for the Open Robotics Automation Virtual Environment (OpenRAVE), a simulation environment for testing, developing and deploying motion planning algorithms. The proposed plugin allows for a fast and automated generation of different modular hand models. OpenMRH combines virtual-prototyping and modular concepts. Each modular model is generated by applying a dynamically generated code, which is consistent with the standard syntax expected by OpenRAVE for the simulated models. In this way, once the desired model is generated, an instance of OpenRAVE can be launched and the model can be visualised. Alternatively, the modular models can be generated from a user-defined input specified via a graphical user interface (GUI). The generated models can be used for testing, developing and deploying grasp or motion planning algorithms. Two case studies are considered to validate the efficiency of the proposed model generator. In the first case study, a modular robotic hand model is generated with OpenMRH by using user-defined input parameters. In the second case study, another hand model is generated with OpenMRH by using algorithmic defined input parameters.