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‎README.md‎

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Located in `gripper/` directory:
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| Brand | Models | Repaint | Images |
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|--------------------------------------|----------------------|---------|-------------------------------------------------------------------------------------------------------------------|
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| [ChangingTek](gripper/changingtek_description) | AG2F90-C<br>AG2F120S | Yes | <img src="gripper/.images/tek_ag2f90c.png" width="150"> <img src="gripper/.images/tek_ag2f120s.png" width="150"> |
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| [DH](gripper/dh_description) | PGC_140_50 | Yes | <img src="gripper/.images/dh_pgc_140.png" width="150"> |
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| [Robotiq](gripper/robotiq_description) | 2F-85 | Yes | <img src="gripper/.images/robotiq_85.png" width="150"> |
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| [Inspire](gripper/inspire_description) | EG2-4C2 | Yes | <img src="gripper/.images/inspire_eg2.png" width="150"> |
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| Brand | Models | Repaint | Images |
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|--------------------------------------|----------------------|---------|------------------------------------------------------------------------------------------------------------------|
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| [ChangingTek](gripper/changingtek_description) | AG2F90-C<br>AG2F120S | Yes | <img src="gripper/.images/tek_ag2f90.png" width="150"> <img src="gripper/.images/tek_ag2f120s.png" width="150"> |
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| [DH](gripper/dh_description) | PGC_140_50 | Yes | <img src="gripper/.images/dh_pgc_140.png" width="150"> |
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| [Robotiq](gripper/robotiq_description) | 2F-85 | Yes | <img src="gripper/.images/robotiq_85.png" width="150"> |
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| [Inspire](gripper/inspire_description) | EG2-4C2 | Yes | <img src="gripper/.images/inspire_eg2.png" width="150"> |
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| [Jodell](gripper/jodell_description) | RG75-300 | Yes | <img src="gripper/.images/jodell_rg75.png" width="150"> <img src="gripper/.images/jodell_erg32.png" width="150"> |
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| [Hitbot](gripper/hitbot_description) | Z-EFG-100 | Yes | <img src="gripper/.images/hitbot_z_efg_100.png" width="150"> |
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| [Hitbot](gripper/hitbot_description) | Z-EFG-100 | Yes | <img src="gripper/.images/hitbot_z_efg_100.png" width="150"> |
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Each gripper package includes:
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- URDF/Xacro files for robot description
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Mainly located in `dexhands/` directory (Inspire RH56E2 is provided by `gripper/inspire_description`):
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| Brand | Model | Repaint | Images |
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|-----------------------------------------------|-----------------------|---------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [BrainCo](dexhands/brainco_description) | REVO1<br>REVO2 | Yes | <img src="dexhands/.images/brainco_revo1.png" width="150"> <img src="dexhands/.images/brainco_revo2_left.png" width="150"> <img src="dexhands/.images/brainco_revo2_right.png" width="150"> |
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| Brand | Model | Repaint | Images |
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|-----------------------------------------------|-----------------------|---------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| [BrainCo](dexhands/brainco_description) | REVO1<br>REVO2 | Yes | <img src="dexhands/.images/brainco_revo1.png" width="150"> <img src="dexhands/.images/brainco_revo2.png" width="150"> |
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| [LinkerHand](dexhands/linkerhand_description) | O6<br>O7<br>L6<br>L10 | Yes | <img src="dexhands/.images/linkerhand_o6.png" width="150"> <img src="dexhands/.images/linkerhand_o7.png" width="150"> <img src="dexhands/.images/linkerhand_l6.png" width="150"> <img src="dexhands/.images/linkerhand_l10.png" width="150"> |
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| [Inspire](gripper/inspire_description) | RH56E2<br>RH56F2 | Yes | <img src="dexhands/.images/inspire_rh56e2.png" width="150"> <img src="dexhands/.images/inspire_rh56f2.png" width="150"> |
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| [OyMotion](dexhands/oymotion_description) | RoHand Gen2 | Yes | <img src="dexhands/.images/rohand_gen2.png" width="150"> |
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| [FreeDom](dexhands/oymotion_description) | V1<br>V2 | Yes | <img src="dexhands/.images/freedom_v1.png" width="150"> <img src="dexhands/.images/freedom_v2.png" width="150"> |
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| [Inspire](gripper/inspire_description) | RH56E2<br>RH56F2 | Yes | <img src="dexhands/.images/inspire_rh56e2.png" width="150"> <img src="dexhands/.images/inspire_rh56f2.png" width="150"> |
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| [OyMotion](dexhands/oymotion_description) | RoHand Gen2 | Yes | <img src="dexhands/.images/rohand_gen2.png" width="150"> |
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| [FreeDom](dexhands/oymotion_description) | V1<br>V2 | Yes | <img src="dexhands/.images/freedom_v1.png" width="150"> <img src="dexhands/.images/freedom_v2.png" width="150"> |
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Features:
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- Full kinematic chain definition

‎dexhands/.images/brainco_revo2.png‎

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‎dexhands/.images/brainco_revo2_left.png‎

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‎dexhands/.images/brainco_revo2_right.png‎

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‎dexhands/brainco_description/README.md‎

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source ~/ros2_ws/install/setup.bash
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ros2 launch robot_common_launch hand.launch.py hand:=brainco direction:=1
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```
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![revo2 left](../.images/brainco_revo2_left.png)
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![revo2 left](../.images/brainco_revo2.png)
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* Right Hand
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```bash
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# right hand
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source ~/ros2_ws/install/setup.bash
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ros2 launch robot_common_launch hand.launch.py hand:=brainco direction:=-1
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```
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![revo2 right](../.images/brainco_revo2_right.png)
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### Revo1 DexHands
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![revo2 left](../.images/brainco_revo1.png)

‎gripper/.images/tek_ag2f120s.png‎

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‎gripper/.images/tek_ag2f90.png‎

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‎gripper/changingtek_description/README.md‎

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ros2 launch robot_common_launch gripper.launch.py gripper:=changingtek type:=AG2F90-C-Soft
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```
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![ag2f90c](../.images/tek_ag2f90c.png)
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![ag2f90](../.images/tek_ag2f90.png)
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* AG2F120S Gripper
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```bash
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source ~/ros2_ws/install/setup.bash

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