XTac-UMI-Description

中文

Robot descriptions of the XTac-UMI G1 tactile data-collection gripper, in URDF, Xacro, MJCF and USD:

• Master (handheld, the leader), left and right.
• Slave (arm-mounted, the follower): bare, or with the Asm_link adapter for the arm flange.

Packaged for ROS 2 (Humble/Jazzy) and as a Python wheel that needs no ROS.

Key parameters

Item	Value
Slave finger motor	RobStride EL05, maximum output torque 1.1 N·m (hardware-limited for continuous stall)
Finger opening	0 to 28.92° (0.5047 rad); the right finger drives, the left mirrors it
Adapter interface	4 × Ø6.5 mm through holes on Ø50 mm PCD, Ø26 mm centre bore, 12 mm thick
Mounting	+Z along the tool axis; attach to a Z-out arm frame (e.g. tool0) with rpy="0 0 θ"
EEF (closed fingertip centre)	[0.036575, 0, 0.2009217] m from the slave mounting face (+12 mm with the adapter)
Master ↔ slave	<side>_follower_link matches the slave taccap_base_link; EEF, fingertips and camera agree within 0.1 mm

Full frame and naming specification: docs/TACCAP_FLANGE_FRAMES.md.

Packages

Package	Content
taccap_description	Slave: URDF (bare / with adapter), Xacro macro, MJCF, USD, RViz launch
taccap_master_description	Master (left/right): URDF, Xacro macro, MuJoCo preview, USD with open/close animation, RViz launch

Quick start

ROS 2:

cd ~/ws/src && git clone https://github.com/XenseRobotics-AI/XTac-UMI-Description.git
cd ~/ws && colcon build && source install/setup.bash
ros2 launch taccap_description display.launch.py with_mount:=true
ros2 launch taccap_master_description display.launch.py side:=left

Attach the slave to your arm:

<xacro:include filename="$(find taccap_description)/urdf/taccap_g1_slave_macro.xacro"/>
<xacro:taccap_g1_slave prefix="right_" with_mount="false"/>
<joint name="arm_to_gripper" type="fixed">
  <parent link="tool0"/><child link="right_taccap_base_link"/>
  <origin xyz="0 0 0" rpy="0 0 0"/>  <!-- clocking about Z per installation -->
</joint>

Python (no ROS needed):

pip install git+https://github.com/XenseRobotics-AI/XTac-UMI-Description.git

from taccap_description import get_urdf_path, get_mjcf_path, get_usd_path
from taccap_master_description import get_master_urdf_path

get_urdf_path(with_mount=True)
get_master_urdf_path(side="left")

Plain .urdf files use relative mesh paths and open directly in URDF viewers.

Related

• XTac-UMI G1 documentation
• TacCap-Gripper SDK: motor control, IMU/encoder readout and per-device camera intrinsics

Development

pip install -e '.[dev]'
python scripts/import_slave.py             # locked upstream snapshot -> Xacro + meshes
python scripts/generate_models.py          # slave URDF + MJCF from the Xacro
python scripts/generate_usd.py             # slave USD
python scripts/generate_master_models.py   # master Xacro/MJCF/USD from the URDFs
python -m pytest -q

The slave is imported from a locked slave-v2026.10.23 upstream snapshot; local adaptations live in scripts/import_slave.py. See the upstream update workflow. Edit the master URDFs in ros/taccap_master_description/urdf/ for master changes. --check verifies imported and generated files.

License and contact

MIT, see LICENSE. Source and third-party notices: slave, master.

Questions: open a GitHub issue or contact dylan@xenserobotics.com.