Missing URDF for Inspire RH56DFX hands on G1 robot

[Danilrivero]

Hi,

I'm using the Inspire Robots RH56DFX hands, but I cannot find the corresponding URDF file in this repository. I found g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf but the DFQ model is different from the DFX model I'm using. Could you please add the URDF file for the RH56DFX hands or provide link to the hands model if available anywhere?

Thanks!

[ookkshirsagar]

Hi Danil,
I had the same problem and ended up creating a standalone ROS 2 description package for the RH56DFX specifically.

It includes URDF/xacro for both left and right hand variants, full mesh geometry, ros2_control integration, and tutorials for embedding it into your own robot: https://github.com/ookkshirsagar/rh56dfx_description

Hope this helps!