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robotiq_hande_description

Contains meshes and URDF description of the Robotiq Hand-E gripper.

https://github.com/macmacal/robotiq_hande_description

Science Score: 67.0%

This score indicates how likely this project is to be science-related based on various indicators:

  • ✓
    CITATION.cff file
    Found CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
  • ✓
    .zenodo.json file
    Found .zenodo.json file
  • ✓
    DOI references
    Found 2 DOI reference(s) in README
  • ✓
    Academic publication links
    Links to: zenodo.org
  • ○
    Academic email domains
  • ○
    Institutional organization owner
  • ○
    JOSS paper metadata
  • ○
    Scientific vocabulary similarity
    Low similarity (12.0%) to scientific vocabulary

Keywords

model robotics robotiq robotiq-gripper robotiq-hande ros2 urdf
Last synced: 6 months ago · JSON representation ·

Repository

Contains meshes and URDF description of the Robotiq Hand-E gripper.

Basic Info
  • Host: GitHub
  • Owner: macmacal
  • License: apache-2.0
  • Language: Python
  • Default Branch: humble-devel
  • Homepage:
  • Size: 31.6 MB
Statistics
  • Stars: 16
  • Watchers: 1
  • Forks: 6
  • Open Issues: 0
  • Releases: 2
Topics
model robotics robotiq robotiq-gripper robotiq-hande ros2 urdf
Created about 2 years ago · Last pushed 6 months ago
Metadata Files
Readme Changelog License Citation

README.md

robotiqhandedescription

For the driver, check the robotiqhandedriver package from AGH UST.

License pre-commit DOI

This package contains meshes and URDF description of Robotiq Hand-E gripper. It was originally developed for integration with Universal Robots e-series (UR5e), however it is be possible to change the coupler model to fit your needs. PRs are welcome!

  • The gripper comes with coupler model (but without flange).
  • This repository comes with CAD models imported from STEP files to FreeCAD format (FCStd).
  • Package has been developed and tested in ROS 2 Humble.
  • The definitions for the ros2_control framework are available in the robotiqhandegripper.ros2_control.xacro file.

[!IMPORTANT] The fingers' joints can be set from 0 to 25 mm (which corresponds to the maximal grasp with from 0 to 50 mm).

hande_model

Usage

In your URDF (Xacro) file include the Hand-E definition. Provide a unique name and the parent link (for instance tool0) as the parameters:

xml <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" /> <!-- ... --> <xacro:robotiq_hande_gripper name="robotiq_hande_gripper" parent="PARENT_LINK" prefix="" />

For estabilishg a connection with robotiqhandedriver there is also need to provide more parameters: xml <xacro:robotiq_hande_gripper name="robotiq_hande_gripper" prefix="" parent="tool0" grip_pos_min="0.0" grip_pos_max="0.025" tty_port="/tmp/ttyUR" baudrate="115200" parity="N" data_bits="8" stop_bit="1" slave_id="9" frequency_hz="10" use_fake_hardware="false" />

[!NOTE] The TF frame of the end tip of the gripper is called ${prefix}hande_end, where ${prefix} evaluates as the prefix macro parameter.

Examples

An example usage can be find in the urdf/hande_preview.urdf.xacro file. Furthermore, an integration with whole ROS 2 project example can be find in the AGH-CEAI/aegis_ros repository.

Preview

  1. Build the package with colcon and source it: bash colcon build --symlink-install source ./install/setup.bash
  2. Run the Rviz with a call to the urdf_launch package: bash ros2 launch robotiq_hande_description display.launch.py

Credits

Owner

  • Name: Maciej Aleksandrowicz
  • Login: macmacal
  • Kind: user
  • Location: Kraków, Poland
  • Company: AGH University of Science and Technology

PhD Student | Robotics Software Engineer

Citation (CITATION.cff) 

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
  - family-names: Aleksandrowicz
    given-names: Maciej
    orcid: https://orcid.org/0000-0003-3388-5653
  - family-names: Klimek
    given-names: Krzysztof
    orcid: https://orcid.org/0009-0004-6749-1833
  - family-names: Płachno
    given-names: Jakub
title: "Robotiq Hand-E ROS 2 Description Package"
version: 0.1.1
identifiers:
  - type: doi
    value: 10.5281/zenodo.15047935
date-released: 2025-03-18

GitHub Events

Total
  • Create event: 7
  • Issues event: 1
  • Release event: 1
  • Watch event: 10
  • Delete event: 2
  • Issue comment event: 2
  • Member event: 1
  • Push event: 13
  • Pull request event: 15
  • Fork event: 3
Last Year
  • Create event: 7
  • Issues event: 1
  • Release event: 1
  • Watch event: 10
  • Delete event: 2
  • Issue comment event: 2
  • Member event: 1
  • Push event: 13
  • Pull request event: 15
  • Fork event: 3

Issues and Pull Requests

Last synced: 6 months ago

All Time
  • Total issues: 0
  • Total pull requests: 8
  • Average time to close issues: N/A
  • Average time to close pull requests: 5 minutes
  • Total issue authors: 0
  • Total pull request authors: 3
  • Average comments per issue: 0
  • Average comments per pull request: 0.0
  • Merged pull requests: 2
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 0
  • Pull requests: 8
  • Average time to close issues: N/A
  • Average time to close pull requests: 5 minutes
  • Issue authors: 0
  • Pull request authors: 3
  • Average comments per issue: 0
  • Average comments per pull request: 0.0
  • Merged pull requests: 2
  • Bot issues: 0
  • Bot pull requests: 0
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Top Authors
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  • macmacal (6)
  • slimasziom (1)
  • sivral (1)
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enhancement (2)