Package Summary

Tags No category tags.
Version 4.1.0
License Apache License 2.0
Build type AMENT_CMAKE

Repository Summary

Checkout URI
VCS Type git
VCS Version humble-devel
Last Updated 2024-01-18
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains the description (mechanical, kinematic, visual, etc.) of the Hey5 hand. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

Additional Links


  • Jordan Palacios
  • Noel Jimenez


  • Adolfo Rodriguez Tsouroukdissian
No README found. See repository README.

Changelog for package pal_hey5_description

4.1.0 (2024-01-18)

4.0.1 (2023-12-18)

  • Move include of materials.urdf.xacro
  • Use pal_urdf_utils materials and deg_to_rad
  • Contributors: Noel Jimenez

4.0.0 (2023-12-15)

  • updating CHANGELOG package name
  • updating version to 3.8
  • deleting duplicated xacro dependency
  • Changing structure of pal_hey5 gripper repo
  • Contributors: Aina Irisarri

3.0.4 (2023-11-14)

  • Add website tag
  • Contributors: Noel Jimenez

3.0.3 (2023-06-27)

  • create hey5 ros2_control and transmission xacro files
  • Contributors: Noel Jimenez

3.0.2 (2022-11-29)

  • Merge branch \'rename_namespace\' into \'humble-devel\' rename namespace for gazebo plugin See merge request robots/hey5_description!9
  • rename namespace for gazebo plugin
  • Contributors: Jordan Palacios, Noel Jimenez

3.0.1 (2022-11-03)

  • Merge branch \'fix_dependency\' into \'humble-devel\' fix buildtool dependency See merge request robots/hey5_description!8
  • fix buildtool dependency
  • Contributors: Jordan Palacios, Noel Jimenez

3.0.0 (2022-10-26)

  • Merge branch \'linters\' into \'humble-devel\' add linters See merge request robots/hey5_description!7
  • add linters
  • Merge branch \'update_copyright\' into \'humble-devel\' update copyright and license See merge request robots/hey5_description!6
  • restore original LICENSE
  • rename LICENSE
  • update copyright and license
  • Merge branch \'update_maintainers\' into \'humble-devel\' update maintainers See merge request robots/hey5_description!5
  • update maintainers
  • Merge branch \'migrate_gazebo_plugin_underactuated_finger\' into \'foxy-devel\' Migrate gazebo plugin underactuated finger See merge request robots/hey5_description!4
  • change pid gains values
  • add pid_gains to urdf
  • Remove comments to workaround
  • package.xml and CMakeLists.txt in ros2 format
  • Contributors: Jordan Palacios, Noel Jimenez, cescfolch, victor

1.0.3 (2019-04-15)

  • Fix xacro warnings
  • Contributors: Victor Lopez

1.0.2 (2018-04-13)

  • Merge branch \'add-tool-link\' into \'master\' Add hand_tool_link See merge request robots/hey5_description!3
  • Add hand_tool_link
  • Contributors: Hilario Tome, Victor Lopez

1.0.1 (2018-01-15)

  • Merge branch \'fix-reemc\' into \'master\' Fix hey5 hand for REEM-C robot See merge request !2
  • Fix hay5 hand for REEM-C robot
  • Merge branch \'multiple-tiagos\' into \'master\' Allow multiple Tiagos on Gazebo See merge request !1
  • Allow multiple Tiagos on Gazebo Refs #15402
  • Contributors: David Fernandez, Hilario Tome, Victor Lopez, davidfernandez

1.0.0 (2016-09-01)

0.1.3 (2016-04-25)

  • Fix error on loading stil by Rviz as they seem to be malformed Error was The STL file \'package://XXXX/meshes/finger_flex_collision.stl\' is malformed. According to the binary STL header it should have \'108\' triangles, but it has too much data for that to be the case. Seems to be fixed in upcoming Rviz (not released yet)
  • Install LICENSE.txt
  • Change URDF license headers to CC BY 4.0.
  • Contributors: Adolfo Rodriguez Tsouroukdissian, Sam Pfeiffer

0.1.2 (2015-06-12)

  • hey5_description: Install gazebo folder
  • Contributors: Adolfo Rodriguez Tsouroukdissian

0.1.1 (2015-06-12)

  • Add hey5 gazebo simulation plugin
  • Add gazebo references with black material
  • Contributors: Bence Magyar, Luca Marchionni

0.1.0 (2015-04-22)

  • Add hand_grasping_frame
  • Contributors: Bence Magyar

0.0.6 (2015-01-15)

  • Update hand inertial properties - Inertia tensors for all links except palm are approximately four orders of magnitude larger to prevent the Gazebo simulation from becoming unstable. - Palm mass is lower to take into account that actuator mass is specified separately.

  • Contributors: Adolfo Rodriguez Tsouroukdissian

0.0.5 (2014-12-23)

  • License model as CC-BY 4.0, add attribution text
  • Contributors: Adolfo Rodriguez Tsouroukdissian

0.0.4 (2014-12-12)

  • Remove hi-res finger meshes
  • Minor dimension tweaks to harmonize with docs, CAD
  • Update hand transmissions, fully open config - Add some overlap between abduction and flexion to more closely mimic hardware

    • Spread fingers more on fully open configuration
  • Contributors: Adolfo Rodriguez Tsouroukdissian

0.0.3 (2014-11-13)

  • Remove reference to non-existing file
  • Contributors: Adolfo Rodriguez Tsouroukdissian

0.0.2 (2014-11-13)

  • Use transmissions in hand model
  • Remove usage of mimic joints
  • Contributors: Adolfo Rodriguez Tsouroukdissian

0.0.1 (2014-11-05)

  • First version of the Hey5 hand model
  • Contributors: Adolfo Rodriguez Tsouroukdissian

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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