DG-5F-S¶

5-finger robotic hand, small version with fingertip force/torque sensors. Available in left and right hand variants, with both 20-DOF and 15-DOF configurations.

Note

What is DOF? DOF stands for “Degrees of Freedom” – the number of independently controllable joints. The 20-DOF version has 4 joints per finger (like the DG-5F), while the 15-DOF version has 3 joints per finger.

Specifications¶

20-DOF Configuration¶

Parameter	Value
Model ID (Left)	`0x5F14`
Model ID (Right)	`0x5F24`
Fingers	5
Joints	20 (4 per finger)
F/T Sensor	Yes
GPIO	Yes (3 outputs, 1 input)

15-DOF Configuration¶

Parameter	Value
Model ID (Left)	`0x5F34`
Model ID (Right)	`0x5F44`
Fingers	5
Joints	15 (3 per finger)
F/T Sensor	Yes
GPIO	Yes (3 outputs, 1 input)

Packages¶

Package	Description
`dg5f_s_description`	URDF/xacro model, meshes, and RViz display launch files
`dg5f_s_driver`	ros2_control hardware driver, controller configs, and launch files
`dg5f_s_gz`	Gazebo simulation launch files
`dg5f_s_moveit_config`	MoveIt 2 configuration (SRDF, planners, mock hardware)

Launch Files¶

20-DOF Driver Launch Files¶

Launch File	Controller Type	Description
`dg5f_s_right_driver.launch.py`	Joint Trajectory Controller	Right hand with JTC
`dg5f_s_left_driver.launch.py`	Joint Trajectory Controller	Left hand with JTC
`dg5f_s_right_effort_controller.launch.py`	JointGroupEffortController	Right hand with direct effort control
`dg5f_s_left_effort_controller.launch.py`	JointGroupEffortController	Left hand with direct effort control

15-DOF Driver Launch Files¶

Launch File	Controller Type	Description
`dg5f_s_15dof_right_driver.launch.py`	Joint Trajectory Controller	Right hand 15-DOF with JTC
`dg5f_s_15dof_left_driver.launch.py`	Joint Trajectory Controller	Left hand 15-DOF with JTC
`dg5f_s_15dof_right_effort_controller.launch.py`	JointGroupEffortController	Right hand 15-DOF with effort control
`dg5f_s_15dof_left_effort_controller.launch.py`	JointGroupEffortController	Left hand 15-DOF with effort control

Visualization and Simulation¶

Launch File	Package	Description
`dg5f_s_right_display.launch.py`	`dg5f_s_description`	RViz visualization (right, 20-DOF)
`dg5f_s_left_display.launch.py`	`dg5f_s_description`	RViz visualization (left, 20-DOF)
`dg5f_s_15dof_right_display.launch.py`	`dg5f_s_description`	RViz visualization (right, 15-DOF)
`dg5f_s_15dof_left_display.launch.py`	`dg5f_s_description`	RViz visualization (left, 15-DOF)
`dg5f_s_right_gz.launch.py`	`dg5f_s_gz`	Gazebo simulation (right, 20-DOF)
`dg5f_s_left_gz.launch.py`	`dg5f_s_gz`	Gazebo simulation (left, 20-DOF)
`dg5f_s_15dof_right_gz.launch.py`	`dg5f_s_gz`	Gazebo simulation (right, 15-DOF)
`dg5f_s_15dof_left_gz.launch.py`	`dg5f_s_gz`	Gazebo simulation (left, 15-DOF)

Launch Arguments¶

All driver launch files accept these arguments:

Argument	Default	Description
`delto_ip`	`169.254.186.72`	IP address of the gripper
`delto_port`	`502`	TCP port of the gripper
`fingertip_sensor`	`false`	Enable reading F/T sensor data from the hardware
`ft_broadcaster`	`false`	Enable broadcasting F/T data as ROS 2 topics
`io`	`false`	Enable GPIO interfaces

Example:

ros2 launch dg5f_s_driver dg5f_s_right_driver.launch.py delto_ip:=192.168.1.100 fingertip_sensor:=true ft_broadcaster:=true

Controller Types¶

Joint Trajectory Controller (JTC) – Default¶

20-DOF Right Hand:

ros2 launch dg5f_s_driver dg5f_s_right_driver.launch.py

15-DOF Right Hand:

ros2 launch dg5f_s_driver dg5f_s_15dof_right_driver.launch.py

Send a position command (20-DOF example, namespace dg5f_s_right):

ros2 action send_goal /dg5f_s_right/dg5f_s_right_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{
  trajectory: {
    joint_names: [rj_dg_1_1, rj_dg_1_2, rj_dg_1_3, rj_dg_1_4],
    points: [
      {positions: [0.5, 0.5, 0.5, 0.5], time_from_start: {sec: 2, nanosec: 0}}
    ]
  }
}"

Effort Controller (Direct Current)¶

20-DOF Right Hand:

ros2 launch dg5f_s_driver dg5f_s_right_effort_controller.launch.py

Send effort commands (20 values for 20-DOF, 15 values for 15-DOF):

ros2 topic pub /dg5f_s_right/effort_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}" --once

MoveIt Integration¶

The dg5f_s_moveit_config package provides MoveIt 2 motion planning for the DG-5F-S. It includes mock hardware support via mock_components/GenericSystem, so you can test motion planning without a physical gripper.

MoveIt Launch Files¶

Launch File	Package	Description
`dg5f_s_right_moveit.launch.py`	`dg5f_s_moveit_config`	Right 20-DOF MoveIt
`dg5f_s_left_moveit.launch.py`	`dg5f_s_moveit_config`	Left 20-DOF MoveIt
`dg5f_s_15dof_right_moveit.launch.py`	`dg5f_s_moveit_config`	Right 15-DOF MoveIt
`dg5f_s_15dof_left_moveit.launch.py`	`dg5f_s_moveit_config`	Left 15-DOF MoveIt

Mock Hardware (No Device Required)¶

# 20-DOF right hand with mock hardware
ros2 launch dg5f_s_moveit_config dg5f_s_right_moveit.launch.py use_mock:=true

# 15-DOF left hand with mock hardware
ros2 launch dg5f_s_moveit_config dg5f_s_15dof_left_moveit.launch.py use_mock:=true

Standalone mock driver (without MoveIt):

ros2 launch dg5f_s_driver dg5f_s_right_mock.launch.py

Real Hardware with MoveIt¶

ros2 launch dg5f_s_moveit_config dg5f_s_right_moveit.launch.py use_mock:=false delto_ip:=169.254.186.72

MoveIt Launch Arguments¶

Argument	Default	Description
`use_mock`	`true`	Use mock hardware (`true`) or real hardware (`false`)
`delto_ip`	`169.254.186.72`	Gripper IP (real hardware only)
`delto_port`	`502`	Gripper port (real hardware only)

Planning Groups¶

Each finger is a chain from link_base to link_X_tip:

Group	Joints (20-DOF)	Joints (15-DOF)
`finger_1`	`joint_1_1` ~ `joint_1_4`	`joint_1_1` ~ `joint_1_3`
`finger_2`	`joint_2_1` ~ `joint_2_4`	`joint_2_1` ~ `joint_2_3`
`finger_3`	`joint_3_1` ~ `joint_3_4`	`joint_3_1` ~ `joint_3_3`
`finger_4`	`joint_4_1` ~ `joint_4_4`	`joint_4_1` ~ `joint_4_3`
`finger_5`	`joint_5_1` ~ `joint_5_4`	`joint_5_1` ~ `joint_5_3`
`all_fingers`	All 20 joints	All 15 joints

F/T Sensor Setup¶

The DG-5F-S has 5 fingertip F/T sensors. Enable them with both flags:

ros2 launch dg5f_s_driver dg5f_s_right_driver.launch.py fingertip_sensor:=true ft_broadcaster:=true

Check the F/T topics:

ros2 topic list | grep fingertip

/dg5f_s_right/fingertip_1_broadcaster/wrench
/dg5f_s_right/fingertip_2_broadcaster/wrench
/dg5f_s_right/fingertip_3_broadcaster/wrench
/dg5f_s_right/fingertip_4_broadcaster/wrench
/dg5f_s_right/fingertip_5_broadcaster/wrench

Calibrate the sensors:

ros2 service call /dg5f_s_right/delto_hardware_interface_node/set_ft_sensor_offset std_srvs/srv/Trigger

Topics Published¶

Namespace varies by variant: /dg5f_s_right/, /dg5f_s_left/

Topic	Type	Description
`joint_states`	`sensor_msgs/msg/JointState`	Position, velocity, and effort for all joints
`robot_description`	`std_msgs/msg/String`	URDF robot description
`fingertip_N_broadcaster/wrench`	`geometry_msgs/msg/WrenchStamped`	F/T sensor data for finger N (if enabled)

Services¶

Replace <ns> with your gripper’s namespace (e.g., dg5f_s_right, dg5f_s_left).

/<ns>/delto_hardware_interface_node/set_ft_sensor_offset: Type: std_srvs/srv/Trigger; Zero-calibrate all fingertip F/T sensors. Call when nothing is touching the fingertips.
/<ns>/set_gpio_output1: Type: std_srvs/srv/SetBool; Set GPIO output 1 (true = high, false = low)
/<ns>/set_gpio_output2: Type: std_srvs/srv/SetBool; Set GPIO output 2
/<ns>/set_gpio_output3: Type: std_srvs/srv/SetBool; Set GPIO output 3

Verifying the Connection¶

# Check hardware interfaces
ros2 control list_hardware_interfaces

# Check active controllers
ros2 control list_controllers

# Read joint states (adjust namespace for your variant)
ros2 topic echo /dg5f_s_right/joint_states --once

Note¶

DG-5F-S motor direction is always standard (no firmware version dependency). No special configuration is needed regardless of your firmware version.