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tum-lsy-gripper

Aloha4Franka

Main contributors - Daniel San José Pro and Marcel Rath

Warning

👷 Work in progress! 👷

If something is missing, open an issue!

A budget-friendly robotic gripper (only ~€350) with real-time control capabilities, designed to work seamlessly with any collaborative robot. Modified version of the original Aloha2 and UMI.

Perfect for researchers and makers who want to record high-quality manipulation data with CRISP and want a budget friendly gripper.

What's Inside

  • Complete Assembly Guide - Step-by-step instructions plus URDF files for mounting on ISO 9409-1 compliant robots (Franka FR3, Universal Robots UR3, and more)
  • Different finger tips - Use the classical Aloha finger tips or go for a finray design.
  • Plug-and-Play ROS2 Control - Get your gripper quickly running
  • Teleoperation Handle - Intuitive trigger-based control for leader-follower setups
  1. Check the shopping list.
  2. Check assembly guide.
  3. check getting started with the software.

Similar community projects

  • Actuated UMI - Another open-source gripper design also using Dynamixel