{"id":48496142,"url":"https://github.com/fiveages-sim/robot-descriptions-common","last_synced_at":"2026-04-13T07:17:31.616Z","repository":{"id":320305678,"uuid":"1081587962","full_name":"fiveages-sim/robot-descriptions-common","owner":"fiveages-sim","description":"Common Component using in robot_descriptions","archived":false,"fork":false,"pushed_at":"2026-04-03T11:23:42.000Z","size":90635,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2026-04-03T12:33:43.603Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/fiveages-sim.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2025-10-23T01:59:16.000Z","updated_at":"2026-04-03T03:36:16.000Z","dependencies_parsed_at":null,"dependency_job_id":"e7b8808b-c9d1-4d3e-a2e2-bed932fba063","html_url":"https://github.com/fiveages-sim/robot-descriptions-common","commit_stats":null,"previous_names":["fiveages-sim/robot-descriptions-common"],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/fiveages-sim/robot-descriptions-common","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/fiveages-sim%2Frobot-descriptions-common","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/fiveages-sim%2Frobot-descriptions-common/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/fiveages-sim%2Frobot-descriptions-common/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/fiveages-sim%2Frobot-descriptions-common/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/fiveages-sim","download_url":"https://codeload.github.com/fiveages-sim/robot-descriptions-common/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/fiveages-sim%2Frobot-descriptions-common/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":31511785,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-07T03:10:19.677Z","status":"ssl_error","status_checked_at":"2026-04-07T03:10:13.982Z","response_time":105,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2026-04-07T12:02:59.854Z","updated_at":"2026-04-07T12:02:59.956Z","avatar_url":"https://github.com/fiveages-sim.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Robot Descriptions - Common Components\n\nThis repository contains shared robot description files including grippers, dexterous hands, sensor models, and common launch utilities for ROS2 robots.\n\n## Overview\n\nThis is a git submodule of the main [robot_descriptions](https://github.com/fiveages-sim/robot_descriptions) repository, containing commonly used end-effectors and sensors that can be attached to various robot platforms.\n\n## Components\n\n### Grippers\n\nLocated in `gripper/` directory:\n\n| Brand | Models | Repaint | Images |\n|--------------------------------------|----------------------|---------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|\n| [ChangingTek](gripper/changingtek_description) | AG2F90-C\u003cbr\u003eAG2F120S | Yes | \u003cimg src=\"gripper/.images/tek_ag2f90c.png\" width=\"150\"\u003e \u003cimg src=\"gripper/.images/tek_ag2f120s.png\" width=\"150\"\u003e |\n| [DH](gripper/dh_description) | PGC_140_50 | Yes | \u003cimg src=\"gripper/.images/dh_pgc_140.png\" width=\"150\"\u003e |\n| [Robotiq](gripper/robotiq_description) | 2F-85 | Yes | \u003cimg src=\"gripper/.images/robotiq_85.png\" width=\"150\"\u003e |\n| [Inspire](gripper/inspire_description) | EG2-4C2 | Yes | \u003cimg src=\"gripper/.images/inspire_eg2.png\" width=\"150\"\u003e |\n| [Jodell](gripper/jodell_description) | RG75-300 | Yes | \u003cimg src=\"gripper/.images/jodell_rg75.png\" width=\"150\"\u003e |\n\nEach gripper package includes:\n- URDF/Xacro files for robot description\n- 3D meshes (collision and visual)\n- ROS2 Control configurations\n- Mounting configurations for various robot arms\n\n### Dexterous Hands\n\nMainly located in `dexhands/` directory (Inspire RH56E2 is provided by `gripper/inspire_description`):\n\n| Brand | Model | Repaint | Images |\n|--------------------------------------------|-----------------------|---------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|\n| [BrainCo](dexhands/brainco_description) | REVO1\u003cbr\u003eREVO2 | Yes | \u003cimg src=\"dexhands/.images/brainco_revo1.png\" width=\"150\"\u003e \u003cimg src=\"dexhands/.images/brainco_revo2_left.png\" width=\"150\"\u003e \u003cimg src=\"dexhands/.images/brainco_revo2_right.png\" width=\"150\"\u003e |\n| [LinkerHand](dexhands/linkerhand_description) | O6\u003cbr\u003eO7\u003cbr\u003eL6\u003cbr\u003eL10 | Yes | \u003cimg src=\"dexhands/.images/linkerhand_o6.png\" width=\"150\"\u003e \u003cimg src=\"dexhands/.images/linkerhand_o7.png\" width=\"150\"\u003e \u003cimg src=\"dexhands/.images/linkerhand_l6.png\" width=\"150\"\u003e \u003cimg src=\"dexhands/.images/linkerhand_l10.png\" width=\"150\"\u003e |\n| [Inspire](gripper/inspire_description) | RH56E2 | Yes | \u003cimg src=\"dexhands/.images/inspire_rh56e2.png\" width=\"150\"\u003e |\n| [OyMotion](dexhands/oymotion_description) | RoHand Gen2 | Yes | \u003cimg src=\"dexhands/.images/rohand_gen2.png\" width=\"150\"\u003e |\n\nFeatures:\n- Full kinematic chain definition\n- Support for both left and right hands\n- Individual finger joint control\n- High-quality visual meshes\n\n### Sensor Models\n\nLocated in `sensor_models/` directory:\n\nIncludes URDF descriptions and meshes for:\n- Intel RealSense D405\n- Intel RealSense D435\n- Orbbec Dabai\n- Livox Mid-360\n\nThese sensor models can be easily integrated into robot descriptions for simulation and visualization.\n\n### Common Launch Files\n\nLocated in `robot_common_launch/` directory:\n\nA collection of reusable launch files and utilities:\n\n#### Visualization\n- `visualize/gripper.launch.py` - Launch gripper visualization\n- `visualize/hand.launch.py` - Launch dexterous hand visualization\n- `visualize/manipulator.launch.py` - Launch manipulator visualization\n- `visualize/humanoid.launch.py` - Launch humanoid robot visualization\n\n#### Control\n- `control/controller_manager.launch.py` - Launch ROS2 controller manager\n- `control/diff_drive.launch.py` - Launch differential drive controller\n- `control/hardware_visualize.launch.py` - Launch hardware visualization\n\n#### Manipulation\n- `manipulation/manipulator_ocs2.launch.py` - Launch OCS2 MPC for manipulators\n\n#### Navigation\n- `navigation/navigation.launch.py` - Launch Nav2 stack\n- `navigation/cartographer.launch.py` - Launch Cartographer SLAM\n- `navigation/navigation_slam.launch.py` - Launch Nav2 with SLAM\n- `navigation/amr_rctk.launch.py` - Launch AMR RCTK navigation\n\nAlso includes:\n- RViz configuration files\n- Navigation parameter files (Nav2, SLAM Toolbox, Cartographer)\n- Gazebo bridge configurations\n- Simulation world files\n\n## Usage\n\n### As Part of Robot Description\n\nTo use these components in your robot description, you can include them using xacro:\n\n```xml\n\u003c!-- Example: Adding a gripper to your robot --\u003e\n\u003cxacro:include filename=\"$(find robotiq_description)/xacro/gripper.xacro\"/\u003e\n\n\u003cxacro:robotiq_gripper \n parent=\"arm_link_6\" \n name=\"gripper\"\u003e\n \u003corigin xyz=\"0 0 0\" rpy=\"0 0 0\"/\u003e\n\u003c/xacro:robotiq_gripper\u003e\n```\n\n### Using Common Launch Files\n\n```bash\n# Visualize a gripper\nros2 launch robot_common_launch gripper.launch.py\n\n# Launch manipulator with OCS2 MPC\nros2 launch robot_common_launch manipulator_ocs2.launch.py\n\n# Start navigation with SLAM\nros2 launch robot_common_launch navigation_slam.launch.py\n```\n\n## Package Structure\n\n```\ncommon/\n├── sensor_models/ # Sensor URDF models\n├── dexhands/ # Dexterous hand descriptions\n│ ├── brainco_description/\n│ ├── linkerhand_description/\n│ └── oymotion_description/\n├── gripper/ # Gripper descriptions\n│ ├── changingtek_description/\n│ ├── dh_description/\n│ ├── inspire_description/\n│ ├── jodell_description/\n│ └── robotiq_description/\n└── robot_common_launch/ # Common launch files and utilities\n ├── config/ # Configuration files (RViz, Nav2, etc.)\n ├── launch/ # Launch files\n └── worlds/ # Simulation world files\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffiveages-sim%2Frobot-descriptions-common","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ffiveages-sim%2Frobot-descriptions-common","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffiveages-sim%2Frobot-descriptions-common/lists"}