DG-1F (M Type)¶

1-finger gripper with 3 actuated joints. Smallest model in the Delto lineup.

Specifications¶

Parameter	Value
Model ID	`0x1F02`
Fingers	1
Joints	3 actuated (`j_1_1`, `j_1_2`, `j_1_3`; `j_1_4` is a fixed tip)
F/T Sensor	No
GPIO	Yes (3 outputs, 1 input)

Packages¶

Package	Description
`dg1f_description`	URDF model, meshes, and RViz display launch
`dg1f_driver`	ros2_control hardware driver, controller configs, and launch files

Before You Control: Developer Mode¶

Important

The ros2_control driver speaks a custom protocol over Ethernet that is only available in Developer Mode. Set the gripper to Developer Mode with the communication mode set to EtherNET before launching the driver (check the switch/LED settings in your DG-1F product manual), otherwise the connection will fail.

Launch¶

# JointTrajectoryController (default)
ros2 launch dg1f_driver dg1f_driver.launch.py delto_ip:=169.254.186.72

# Direct effort control
ros2 launch dg1f_driver dg1f_effort_controller.launch.py delto_ip:=169.254.186.72

# Mock hardware (no device required)
ros2 launch dg1f_driver dg1f_mock.launch.py

PID controllers (position reference → effort) are also provided:

# Individual: one PidController per joint (/dg1f/<joint>_pospid/reference)
ros2 launch dg1f_driver dg1f_pid_controller.launch.py delto_ip:=169.254.186.72

# All-in-one: a single grouped PidController (/dg1f/j_pospid/reference)
ros2 launch dg1f_driver dg1f_pid_all_controller.launch.py delto_ip:=169.254.186.72

Controllers¶

Controller	Config	Topic / Action
JointTrajectoryController	`dg1f_controller.yaml`	`/dg1f/dg1f_controller/joint_trajectory` (+ `follow_joint_trajectory` action)
JointGroupEffortController	`dg1f_effort_controller.yaml`	`/dg1f/effort_controller/commands`
PidController — individual	`dg1f_pid_controller.yaml`	`/dg1f/<joint>_pospid/reference`
PidController — grouped (`pid_all`)	`dg1f_pid_all_controller.yaml`	`/dg1f/j_pospid/reference`

Test scripts: dg1f_jtc_test.py, dg1f_jtc_action_test.py, dg1f_pid_test.py, dg1f_pid_all_test.py.

Firmware Note¶

The DG-1F-M is an M-series gripper. Motor direction was revised in firmware v2.8+. If your firmware is older, the hardware interface automatically detects this and applies the legacy motor direction mapping. No manual configuration is required.