Modified x-position & pitch angle of ASUS Xtion.
The sensor needs to be located more forward, and angled downwards at the table. However this position is not calibrated, and may not be suitable for other vision tasks.
Removed 2 mimic joints & restored joint limits.
The mimic joint functionality does not work in Gazebo, they act like a non-actuated joint with some friction behaviour. Mimic joints only work with the Fake Joint State Publisher GUI. The related joint limits for digits 2 & 3 were restored, so they can be controlled.
Added 10mm offset to thumbs.
The offset is a separate number, so it is easily recognizable. The macro change has been tested with both left & right sides.
Added optional visual for thumb extension.
This temporary addition matches the real hand, so the thumb does not appear to be hanging in mid-air.
Fixed ASUS Xtion collision geometry.
Due to a Gazebo bug, all visual/collision geometry must have zero origin. Added a new, simplified STL collision mesh instead.
Added parameter to specify topic prefix for ASUS.
A new parameter to specify the namespace prefix for the topics output from the simulated OpenNI sensor. By modifying this namespace, you can then publish real sensor data on these topics, thereby using the real sensor data in simulation.