End-effector assets and migration

End-effector assets and migration#

Concrete hand and gripper assets live beside other robot models in embodichain_robots, under their manufacturer/model namespace. Robot describes an independently controlled runtime entity; EEF describes a role in an assembly. The same BrainCo hand model therefore serves its standalone preset and W1 mounts. The core continues to own downloads, caches, generic configuration and runtime control. Host presets or embodiments own mounting transforms, prefixes, control group mappings and task-specific TCPs.

Canonical asset imports#

The previous embodichain.data.assets.eef_assets module and its aggregate embodichain.data.assets class exports have been removed. Import download classes from these canonical modules, or use get_data_path() with the existing asset ID. No compatibility forwarding module is provided.

Asset ID / class

Canonical import module

Resource page

DH_PGC_140_50

embodichain_robots.dh_robotics.pgc_140_50.assets

PGC-140-50

DH_PGC_140_50_M

embodichain_robots.dh_robotics.pgc_140_50.assets

PGC modification

DH_PGI_140_80

embodichain_robots.dh_robotics.pgi_140_80.assets

PGI-140-80

DH_AG95

embodichain_robots.dh_robotics.ag95.assets

AG95 modification

ZH_CTM2F110

embodichain_robots.changingtek.ctm2f110.assets

CTM2F110

BrainCoHandRevo1

embodichain_robots.brainco.revo1.assets

Revo 1

InspireHand

embodichain_robots.inspire.hand.assets

INSPIRE hand

Robotiq

embodichain_robots.robotiq.assets

Shared Robotiq archive

Robotiq2F85

embodichain_robots.robotiq.robotiq_2f85.assets

Separate 2F-85 archive

WheelTecFA2F

embodichain_robots.wheeltec.fa2f.assets

FA2F asset

PikaGripper

embodichain_robots.agilex.pika.assets

AgileX Pika

The existing asset IDs, class names, archive URLs, checksum validation and cache prefixes are preserved. All entries remain in the eef data category and use the existing embodichain.assets entry point. Pika retains its configured mirror and official Hub fallback order. Catalog discovery does not construct datasets.

from embodichain.data import get_data_path
from embodichain_robots.agilex.pika.assets import PikaGripper

# Existing references still work; no cache migration is required.
urdf_path = get_data_path("PikaGripper/PikaGripper.urdf")

embodichain data list --category eef
embodichain data download --name PikaGripper

Provenance boundaries#

Each owning source directory includes an archive-specific README.md recording manufacturer affiliation, claimed model, model-match status, asset author and publication source, current distribution archive/digest, known modifications, license evidence and remaining questions. These records ship with the wheel.

Manufacturer product references establish affiliation; they do not prove that EmbodiChain’s URDF or meshes are manufacturer publications. Asset-specific licenses remain unverified where the archives contain none. Python Apache headers are not evidence of asset licensing. In particular:

  • DH_PGC_140_50_M and DH_AG95 record DexForce connector/finger changes.

  • Pika belongs under AgileX; its preparation metadata names a local ROS source package but does not pin a verified public upstream commit.

  • InspireHand cites RH56BFX, while its exact packaged CAD match is unverified.

  • WHEELTEC affiliation is known, while FA2F remains an asset identifier with an unverified formal commercial model.

  • Missing modification records do not establish an original or unmodified asset.

Standalone hands and mounted tools#

BrainCoRevo1Cfg is the new standalone joint-controlled hand preset. It uses six active joints and retains the four source mimic followers. Its native model specification is also consumed by W1, whose installation calibration and existing configuration interface remain W1-owned. See Revo 1 for variants, commands and physical defaults, and W1 for the host assembly.

The other migrated packages expose download assets rather than new RobotCfg classes. Resolve their URDFs and configure their host assembly explicitly. A control group named eef does not turn a dexterous hand into a parallel gripper or imply an open/close service, finger IK, retargeting or grasping strategy.

Rendered illustrations#

The linked manufacturer/model pages show native OfflineRT renders for all 11 asset IDs, including both BrainCo and INSPIRE hands and both models in the shared Robotiq archive. Each image has a neighboring JSON manifest with source URDF SHA256, source reference, image SHA256, camera, root transform, joint positions, lighting and renderer settings.

The default presentation uses 1600 × 1080 output, 1 sample per pixel, DLSS offscreen reconstruction at quality 2, 48 warmup frames, tone mapping off, environment emission intensity 80 and three neutral rectangular studio lights. Meshes and materials are taken from the current archives. AG95, both models in the shared Robotiq archive and WHEELTEC FA2F use tone mapping, emission intensity 20 and quarter-intensity studio lights to retain detail in their white parts. Their authored black materials are preserved. Presentation root transforms place the geometry above the ground; no physics steps are taken. Pika uses the documented display-only removal of zero inertials on its two empty fixed frames so the native importer can load its unchanged visual geometry. These are asset illustrations, not evidence of physical calibration or simulated grasp success.

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