From 8b425654e28a34b15617c38492df5decb2361da5 Mon Sep 17 00:00:00 2001
From: macmacal <mac.aleksandrowicz@gmail.com>
Date: Mon, 27 Jan 2025 17:24:43 +0100
Subject: [PATCH 1/6] unified naming for joints & links

---
 urdf/robotiq_hande_gripper.xacro | 36 ++++++++++++++++----------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro
index b1af3f2..8711fa4 100644
--- a/urdf/robotiq_hande_gripper.xacro
+++ b/urdf/robotiq_hande_gripper.xacro
@@ -13,13 +13,13 @@
     <!--  + Height added by the coupler: 13.9mm -->
     <!--  + Reference frame: at the middle (6.95mm) -->
 
-    <joint name="robotiq_coupler_joint" type="fixed">
+    <joint name="robotiq_hande_coupler_joint" type="fixed">
       <origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}" />
       <parent link="${parent}"/>
-      <child link="${prefix}robotiq_coupler"/>
+      <child link="${prefix}robotiq_hande_coupler"/>
     </joint>
 
-    <link name="${prefix}robotiq_coupler">
+    <link name="${prefix}robotiq_hande_coupler">
       <inertial>
         <mass value="0.168" />
         <inertia 
@@ -46,11 +46,11 @@
 
     <joint name="${prefix}robotiq_hande_base_joint" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0.055"/>
-      <parent link="${prefix}robotiq_coupler"/>
-      <child link="${prefix}hande_link"/>
+      <parent link="${prefix}robotiq_hande_coupler"/>
+      <child link="${prefix}robotiq_hande_link"/>
     </joint>
 
-    <link name="${prefix}hande_link">
+    <link name="${prefix}robotiq_hande_link">
       <inertial>
         <mass value="0.86387"/>
         <inertia 
@@ -76,15 +76,15 @@
     </link>
 
 
-    <joint name="${prefix}hande_left_finger_joint" type="prismatic">
+    <joint name="${prefix}robotiq_hande_left_finger_joint" type="prismatic">
       <origin rpy="0 0 0" xyz="0 -0.025 0.0345"/>
-      <parent link="${prefix}hande_link"/>
-      <child link="${prefix}hande_left_finger"/>
+      <parent link="${prefix}robotiq_hande_link"/>
+      <child link="${prefix}robotiq_hande_left_finger"/>
       <axis xyz="0 1 0"/>
       <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
     </joint>
 
-    <link name="${prefix}hande_left_finger">
+    <link name="${prefix}robotiq_hande_left_finger">
       <inertial>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <mass value="0.03804"/>
@@ -112,16 +112,16 @@
     </link>
 
 
-    <joint name="${prefix}hande_right_finger_joint" type="prismatic">
+    <joint name="${prefix}robotiq_hande_right_finger_joint" type="prismatic">
       <origin rpy="0 0 0" xyz="0 0.025 0.0345"/>
-      <parent link="${prefix}hande_link"/>
-      <child link="${prefix}hande_right_finger"/>
+      <parent link="${prefix}robotiq_hande_link"/>
+      <child link="${prefix}robotiq_hande_right_finger"/>
       <axis xyz="0 -1 0"/>
       <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
-      <mimic joint="${prefix}hande_left_finger_joint" multiplier="1" offset="0"/>
+      <mimic joint="${prefix}robotiq_hande_left_finger_joint" multiplier="1" offset="0"/>
     </joint>
 
-    <link name="${prefix}hande_right_finger">
+    <link name="${prefix}robotiq_hande_right_finger">
       <inertial>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <mass value="0.03804"/>
@@ -151,11 +151,11 @@
 
     <joint name="${prefix}robotiq_hande_end_joint" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0.095"/>
-      <parent link="${prefix}hande_link"/>
-      <child link="${prefix}hande_end"/>
+      <parent link="${prefix}robotiq_hande_link"/>
+      <child link="${prefix}robotiq_hande_end"/>
     </joint>
 
-    <link name="${prefix}hande_end" />
+    <link name="${prefix}robotiq_hande_end" />
 
   </xacro:macro>
 </robot>

From b38ae2d64521a9d4a27b89a339f4a552a7ac222b Mon Sep 17 00:00:00 2001
From: macmacal <mac.aleksandrowicz@gmail.com>
Date: Mon, 27 Jan 2025 18:26:00 +0100
Subject: [PATCH 2/6] initial ros2_control params

---
 urdf/robotiq_hande_gripper.ros2_control.xacro | 31 +++++++++++++++++++
 urdf/robotiq_hande_gripper.urdf.xacro         |  8 +++--
 urdf/robotiq_hande_gripper.xacro              | 10 +++++-
 3 files changed, 46 insertions(+), 3 deletions(-)
 create mode 100644 urdf/robotiq_hande_gripper.ros2_control.xacro

diff --git a/urdf/robotiq_hande_gripper.ros2_control.xacro b/urdf/robotiq_hande_gripper.ros2_control.xacro
new file mode 100644
index 0000000..3e1ec1e
--- /dev/null
+++ b/urdf/robotiq_hande_gripper.ros2_control.xacro
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="robotiq_hande_ros2_control" params="name prefix tty use_fake_hardware:=false">
+        <ros2_control name="${name}" type="system">
+
+          <hardware>
+            <xacro:if value="${use_fake_hardware}">
+                  <plugin>mock_components/GenericSystem</plugin>
+            </xacro:if>
+
+            <xacro:unless value="${use_fake_hardware}">
+              <plugin>robotiq_hande_driver/RobotiqHandeHardwareInterface</plugin>
+              <param name="tty">${tty}</param>
+            </xacro:unless>
+          </hardware>
+
+            <!-- The right finger joint uses the mimic feature -->
+            <joint name="${prefix}hande_left_finger_joint">
+              <command_interface name="position">
+                <param name="min">0</param>
+                <param name="max">0.025</param>
+              </command_interface>
+              <state_interface name="position">
+                  <param name="initial_value">0.025</param>
+              </state_interface>
+              <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>
diff --git a/urdf/robotiq_hande_gripper.urdf.xacro b/urdf/robotiq_hande_gripper.urdf.xacro
index c5ec3ac..9dc4a03 100644
--- a/urdf/robotiq_hande_gripper.urdf.xacro
+++ b/urdf/robotiq_hande_gripper.urdf.xacro
@@ -2,9 +2,13 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
        name="robotiq_hande_gripper" >
 
+  <xacro:arg name="parent" default="tool0" />
+  <xacro:arg name="tty" default="/dev/ttyXXX" />
+  <xacro:arg name="use_fake_hardware" default="true" />
+
   <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" />
 
-  <link name="tool0" />
-  <xacro:robotiq_hande_gripper parent="tool0" prefix="" />
+  <link name="$(arg parent)" />
+  <xacro:robotiq_hande_gripper name="robotiq_hande_gripper" prefix="" parent="$(arg parent)" tty="$(arg tty)" use_fake_hardware="$(arg use_fake_hardware)" />
   
 </robot>
diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro
index 8711fa4..c8139cd 100644
--- a/urdf/robotiq_hande_gripper.xacro
+++ b/urdf/robotiq_hande_gripper.xacro
@@ -6,8 +6,16 @@
   -->  
 
   <xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro" />
+  <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.ros2_control.xacro" />
 
-  <xacro:macro name="robotiq_hande_gripper" params="prefix parent">
+  <xacro:macro name="robotiq_hande_gripper" params="name prefix parent tty use_fake_hardware">
+
+    <!-- ros2_control parameters  -->
+    <xacro:robotiq_hande_ros2_control
+        name="${name}"
+        prefix="${prefix}"
+        tty="${tty}"
+        use_fake_hardware="${use_fake_hardware}" />
 
     <!-- Robotiq Coupler -->
     <!--  + Height added by the coupler: 13.9mm -->

From 4d04a2ae5bc7d52f3a8ee9b8b21faa07ea741c70 Mon Sep 17 00:00:00 2001
From: macmacal <mac.aleksandrowicz@gmail.com>
Date: Mon, 27 Jan 2025 18:30:42 +0100
Subject: [PATCH 3/6] github repo (pre-commit) boilerplate

---
 .github/issue_template.md         | 16 +++++++++++++++
 .github/pull_request_template.md  | 27 +++++++++++++++++++++++++
 .github/workflows/pre-commit.yaml | 11 +++++++++++
 .pre-commit-config.yaml           | 33 +++++++++++++++++++++++++++++++
 4 files changed, 87 insertions(+)
 create mode 100644 .github/issue_template.md
 create mode 100644 .github/pull_request_template.md
 create mode 100644 .github/workflows/pre-commit.yaml
 create mode 100644 .pre-commit-config.yaml

diff --git a/.github/issue_template.md b/.github/issue_template.md
new file mode 100644
index 0000000..4af8023
--- /dev/null
+++ b/.github/issue_template.md
@@ -0,0 +1,16 @@
+---
+
+name: "Issue template"
+about: "Minimal information about an issue"
+title: ""
+ref: "devel"
+
+---
+
+## Description
+
+
+<!--- ## Screenshots (if appropriate): -->
+
+## References
+<!--- Create a list of references, (in a bullet style) -->
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
new file mode 100644
index 0000000..f73645b
--- /dev/null
+++ b/.github/pull_request_template.md
@@ -0,0 +1,27 @@
+<!--- Provide a general summary of your changes in the Title above -->
+## Description
+
+
+## Motivation and context
+<!--- Why is this change required? What problem does it solve? -->
+<!--- If it fixes an open issue, please link to the issue here. -->
+
+
+<!--- ## Screenshots (if appropriate): -->
+
+## How has this been tested?
+<!--- Please describe in detail how you tested your changes. -->
+<!--- Include details of your testing environment, and the tests you ran to -->
+<!--- see how your change affects other areas of the code, etc. -->
+
+
+## Checklist
+<!--- Go over all the following points, and put an `x` in all the boxes that apply. -->
+<!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! -->
+- [ ] All TODOs in the code have been resolved or linked to a proper issue.
+- [ ] Code has been (auto)formatted.
+- [ ] Documentation (e.g., README, CHANGELOG, Wiki) has been updated.
+- [ ] All automated checks have passed.
+
+---
+Clickup task: [hash](link)
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
new file mode 100644
index 0000000..08f7311
--- /dev/null
+++ b/.github/workflows/pre-commit.yaml
@@ -0,0 +1,11 @@
+---
+name: Pre-Commit
+
+on:
+  push:
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..f93ce69
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,33 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-xml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
+      - id: check-yaml
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        args: [-w]
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: prettier-xacro
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml

From 32d789f6edae540b6c11aa4ff9bf4c5e2e22684a Mon Sep 17 00:00:00 2001
From: macmacal <mac.aleksandrowicz@gmail.com>
Date: Tue, 28 Jan 2025 18:28:55 +0100
Subject: [PATCH 4/6] pre-commit fmt

---
 .pre-commit-config.yaml                       |  2 +-
 CMakeLists.txt                                |  2 +-
 README.md                                     | 10 ++--
 launch/display.launch.py                      |  2 +-
 urdf/materials.xacro                          |  6 +-
 urdf/robotiq_hande_gripper.ros2_control.xacro | 50 ++++++++---------
 urdf/robotiq_hande_gripper.urdf.xacro         | 17 +++---
 urdf/robotiq_hande_gripper.xacro              | 55 +++++--------------
 8 files changed, 55 insertions(+), 89 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index f93ce69..515d61e 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -22,7 +22,7 @@ repos:
     rev: v2.2.6
     hooks:
       - id: codespell
-        args: [-w]
+        args: [-L, hande, -w]
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
     rev: v0.10.0
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 70b1c98..73b06c0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,4 +9,4 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_package()
\ No newline at end of file
+ament_package()
diff --git a/README.md b/README.md
index 48d6561..d31be7a 100644
--- a/README.md
+++ b/README.md
@@ -7,8 +7,8 @@ This package contains meshes and URDF description of [Robotiq Hand-E gripper](ht
 - Package has been developed and tested in ROS 2 Humble.
 
 
-> [!IMPORTANT]  
-> The fingers' joints can be set from **0 to 25 mm** (which correspondes to the maximal grasp with from **0 to 50 mm**).
+> [!IMPORTANT]
+> The fingers' joints can be set from **0 to 25 mm** (which corresponds to the maximal grasp with from **0 to 50 mm**).
 
 ![hande_model](docs/hande_rviz.gif)
 
@@ -27,7 +27,7 @@ In your URDF (Xacro) file include the Hand-E definition. Provide a parent link (
 An example usage can be find in the [urdf/hande_preview.urdf.xacro](./urdf/robotiq_hande_gripper.urdf.xacro) file.
 
 > [!NOTE]
-> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the second macro paramater.
+> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the second macro parameter.
 
 
 ## Preview
@@ -43,6 +43,6 @@ ros2 launch robotiq_hande_description display.launch.py
 ```
 
 ## Credits
-- The orignal files of the gripper model were taken from the [Robotiq website](https://robotiq.com/products/hand-e-adaptive-robot-gripper).
+- The original files of the gripper model were taken from the [Robotiq website](https://robotiq.com/products/hand-e-adaptive-robot-gripper).
 - The URDF files are based on work of @cambel [repository](https://github.com/cambel/robotiq.git).
-- Preview in Rviz is based on [ROS 2 URDF Tutorial](https://github.com/ros/urdf_tutorial/tree/ros2/).
\ No newline at end of file
+- Preview in Rviz is based on [ROS 2 URDF Tutorial](https://github.com/ros/urdf_tutorial/tree/ros2/).
diff --git a/launch/display.launch.py b/launch/display.launch.py
index 05e295e..cae0ffa 100644
--- a/launch/display.launch.py
+++ b/launch/display.launch.py
@@ -21,4 +21,4 @@ def generate_launch_description():
             'jsp_gui': run_joint_state_publisher_gui}.items()
     ))
 
-    return ld
\ No newline at end of file
+    return ld
diff --git a/urdf/materials.xacro b/urdf/materials.xacro
index f9432e1..c9d24cf 100644
--- a/urdf/materials.xacro
+++ b/urdf/materials.xacro
@@ -1,6 +1,5 @@
-<?xml version="1.0" ?>
+<?xml version="1.0"?>
 <robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
-
   <material name="Grey">
     <color rgba="0.5 0.5 0.5 1.0"/>
   </material>
@@ -8,5 +7,4 @@
   <material name="DarkGrey">
     <color rgba="0.04 0.04 0.04 1.0"/>
   </material>
-  
-</robot>
\ No newline at end of file
+</robot>
diff --git a/urdf/robotiq_hande_gripper.ros2_control.xacro b/urdf/robotiq_hande_gripper.ros2_control.xacro
index 3e1ec1e..5aa0f9b 100644
--- a/urdf/robotiq_hande_gripper.ros2_control.xacro
+++ b/urdf/robotiq_hande_gripper.ros2_control.xacro
@@ -1,31 +1,29 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="robotiq_hande_ros2_control" params="name prefix tty use_fake_hardware:=false">
-        <ros2_control name="${name}" type="system">
+  <xacro:macro name="robotiq_hande_ros2_control" params="name prefix tty use_fake_hardware:=false">
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <xacro:if value="${use_fake_hardware}">
+          <plugin>mock_components/GenericSystem</plugin>
+        </xacro:if>
 
-          <hardware>
-            <xacro:if value="${use_fake_hardware}">
-                  <plugin>mock_components/GenericSystem</plugin>
-            </xacro:if>
+        <xacro:unless value="${use_fake_hardware}">
+          <plugin>robotiq_hande_driver/RobotiqHandeHardwareInterface</plugin>
+          <param name="tty">${tty}</param>
+        </xacro:unless>
+      </hardware>
 
-            <xacro:unless value="${use_fake_hardware}">
-              <plugin>robotiq_hande_driver/RobotiqHandeHardwareInterface</plugin>
-              <param name="tty">${tty}</param>
-            </xacro:unless>
-          </hardware>
-
-            <!-- The right finger joint uses the mimic feature -->
-            <joint name="${prefix}hande_left_finger_joint">
-              <command_interface name="position">
-                <param name="min">0</param>
-                <param name="max">0.025</param>
-              </command_interface>
-              <state_interface name="position">
-                  <param name="initial_value">0.025</param>
-              </state_interface>
-              <state_interface name="velocity"/>
-            </joint>
-
-        </ros2_control>
-    </xacro:macro>
+      <!-- The right finger joint uses the mimic feature -->
+      <joint name="${prefix}hande_left_finger_joint">
+        <command_interface name="position">
+          <param name="min">0</param>
+          <param name="max">0.025</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.025</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+      </joint>
+    </ros2_control>
+  </xacro:macro>
 </robot>
diff --git a/urdf/robotiq_hande_gripper.urdf.xacro b/urdf/robotiq_hande_gripper.urdf.xacro
index 9dc4a03..6278c89 100644
--- a/urdf/robotiq_hande_gripper.urdf.xacro
+++ b/urdf/robotiq_hande_gripper.urdf.xacro
@@ -1,14 +1,11 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
-       name="robotiq_hande_gripper" >
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="robotiq_hande_gripper">
+  <xacro:arg name="parent" default="tool0"/>
+  <xacro:arg name="tty" default="/dev/ttyXXX"/>
+  <xacro:arg name="use_fake_hardware" default="true"/>
 
-  <xacro:arg name="parent" default="tool0" />
-  <xacro:arg name="tty" default="/dev/ttyXXX" />
-  <xacro:arg name="use_fake_hardware" default="true" />
+  <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>
 
-  <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" />
-
-  <link name="$(arg parent)" />
-  <xacro:robotiq_hande_gripper name="robotiq_hande_gripper" prefix="" parent="$(arg parent)" tty="$(arg tty)" use_fake_hardware="$(arg use_fake_hardware)" />
-  
+  <link name="$(arg parent)"/>
+  <xacro:robotiq_hande_gripper name="robotiq_hande_gripper" prefix="" parent="$(arg parent)" tty="$(arg tty)" use_fake_hardware="$(arg use_fake_hardware)"/>
 </robot>
diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro
index c8139cd..715b108 100644
--- a/urdf/robotiq_hande_gripper.xacro
+++ b/urdf/robotiq_hande_gripper.xacro
@@ -1,40 +1,30 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-
   <!--
     Based on the URDF file by Cristian C Beltran-Hernandez
-  -->  
+  -->
 
-  <xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro" />
-  <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.ros2_control.xacro" />
+  <xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro"/>
+  <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.ros2_control.xacro"/>
 
   <xacro:macro name="robotiq_hande_gripper" params="name prefix parent tty use_fake_hardware">
-
     <!-- ros2_control parameters  -->
-    <xacro:robotiq_hande_ros2_control
-        name="${name}"
-        prefix="${prefix}"
-        tty="${tty}"
-        use_fake_hardware="${use_fake_hardware}" />
+    <xacro:robotiq_hande_ros2_control name="${name}" prefix="${prefix}" tty="${tty}" use_fake_hardware="${use_fake_hardware}"/>
 
     <!-- Robotiq Coupler -->
     <!--  + Height added by the coupler: 13.9mm -->
     <!--  + Reference frame: at the middle (6.95mm) -->
 
     <joint name="robotiq_hande_coupler_joint" type="fixed">
-      <origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}" />
+      <origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}"/>
       <parent link="${parent}"/>
       <child link="${prefix}robotiq_hande_coupler"/>
     </joint>
 
     <link name="${prefix}robotiq_hande_coupler">
       <inertial>
-        <mass value="0.168" />
-        <inertia 
-          ixx="6.17674E-05" ixy="0.0" ixz="0.0" 
-          iyy="6.17674E-05" iyz="0.0" 
-          izz="1.18125E-04"
-        />
+        <mass value="0.168"/>
+        <inertia ixx="6.17674E-05" ixy="0.0" ixz="0.0" iyy="6.17674E-05" iyz="0.0" izz="1.18125E-04"/>
       </inertial>
 
       <collision>
@@ -45,13 +35,12 @@
 
       <visual>
         <geometry>
-          <mesh filename="package://robotiq_hande_description/meshes/coupler.dae" />
+          <mesh filename="package://robotiq_hande_description/meshes/coupler.dae"/>
         </geometry>
-        <material name="DarkGrey" />
+        <material name="DarkGrey"/>
       </visual>
     </link>
 
-
     <joint name="${prefix}robotiq_hande_base_joint" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0.055"/>
       <parent link="${prefix}robotiq_hande_coupler"/>
@@ -61,11 +50,7 @@
     <link name="${prefix}robotiq_hande_link">
       <inertial>
         <mass value="0.86387"/>
-        <inertia 
-          ixx="0.001" ixy="0.0" ixz="0.0" 
-          iyy="0.001" iyz="0.0" 
-          izz="0.0006"
-        />  
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.0006"/>
       </inertial>
 
       <collision>
@@ -83,7 +68,6 @@
       </visual>
     </link>
 
-
     <joint name="${prefix}robotiq_hande_left_finger_joint" type="prismatic">
       <origin rpy="0 0 0" xyz="0 -0.025 0.0345"/>
       <parent link="${prefix}robotiq_hande_link"/>
@@ -96,11 +80,7 @@
       <inertial>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <mass value="0.03804"/>
-        <inertia
-          ixx="1E-9" ixy="0.0" ixz="0.0" 
-          iyy="1E-9" iyz="0.0" 
-          izz="1E-9"
-        />
+        <inertia ixx="1E-9" ixy="0.0" ixz="0.0" iyy="1E-9" iyz="0.0" izz="1E-9"/>
       </inertial>
 
       <collision>
@@ -119,7 +99,6 @@
       </visual>
     </link>
 
-
     <joint name="${prefix}robotiq_hande_right_finger_joint" type="prismatic">
       <origin rpy="0 0 0" xyz="0 0.025 0.0345"/>
       <parent link="${prefix}robotiq_hande_link"/>
@@ -133,11 +112,7 @@
       <inertial>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <mass value="0.03804"/>
-        <inertia
-          ixx="1E-9" ixy="0.0" ixz="0.0" 
-          iyy="1E-9" iyz="0.0" 
-          izz="1E-9"
-        />
+        <inertia ixx="1E-9" ixy="0.0" ixz="0.0" iyy="1E-9" iyz="0.0" izz="1E-9"/>
       </inertial>
 
       <collision>
@@ -152,18 +127,16 @@
         <geometry>
           <mesh filename="package://robotiq_hande_description/meshes/finger.dae" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="Grey" />
+        <material name="Grey"/>
       </visual>
     </link>
 
-
     <joint name="${prefix}robotiq_hande_end_joint" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0.095"/>
       <parent link="${prefix}robotiq_hande_link"/>
       <child link="${prefix}robotiq_hande_end"/>
     </joint>
 
-    <link name="${prefix}robotiq_hande_end" />
-
+    <link name="${prefix}robotiq_hande_end"/>
   </xacro:macro>
 </robot>

From 4d6999f97b4fd471fcd30983aba5572c2e383b1f Mon Sep 17 00:00:00 2001
From: macmacal <mac.aleksandrowicz@gmail.com>
Date: Wed, 29 Jan 2025 21:48:23 +0100
Subject: [PATCH 5/6] minor typos

---
 urdf/robotiq_hande_gripper.ros2_control.xacro | 2 +-
 urdf/robotiq_hande_gripper.xacro              | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/urdf/robotiq_hande_gripper.ros2_control.xacro b/urdf/robotiq_hande_gripper.ros2_control.xacro
index 5aa0f9b..d7e2801 100644
--- a/urdf/robotiq_hande_gripper.ros2_control.xacro
+++ b/urdf/robotiq_hande_gripper.ros2_control.xacro
@@ -14,7 +14,7 @@
       </hardware>
 
       <!-- The right finger joint uses the mimic feature -->
-      <joint name="${prefix}hande_left_finger_joint">
+      <joint name="${prefix}robotiq_hande_left_finger_joint">
         <command_interface name="position">
           <param name="min">0</param>
           <param name="max">0.025</param>
diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro
index 715b108..cc8ce96 100644
--- a/urdf/robotiq_hande_gripper.xacro
+++ b/urdf/robotiq_hande_gripper.xacro
@@ -12,8 +12,8 @@
     <xacro:robotiq_hande_ros2_control name="${name}" prefix="${prefix}" tty="${tty}" use_fake_hardware="${use_fake_hardware}"/>
 
     <!-- Robotiq Coupler -->
-    <!--  + Height added by the coupler: 13.9mm -->
-    <!--  + Reference frame: at the middle (6.95mm) -->
+    <!--  + Height added by the coupler (13.9mm) -->
+    <!--  + Reference frame at the middle (6.95mm) -->
 
     <joint name="robotiq_hande_coupler_joint" type="fixed">
       <origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}"/>

From b44839b4c0716e1a7a9ba19195c126aa3ae44b92 Mon Sep 17 00:00:00 2001
From: macmacal <mac.aleksandrowicz@gmail.com>
Date: Thu, 30 Jan 2025 12:50:51 +0100
Subject: [PATCH 6/6] updated readme

---
 README.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/README.md b/README.md
index d31be7a..4f990f1 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,13 @@
 # robotiq_hande_description
+### For the driver, check the [robotiq_hande_driver](https://github.com/AGH-CEAI/robotiq_hande_driver/) package from AGH UST.
+---
 
 This package contains meshes and URDF description of [Robotiq Hand-E gripper](https://robotiq.com/products/hand-e-adaptive-robot-gripper) dedicated for Universal Robots e-series.
 
 - The gripper comes with coupler model (but without flange).
 - This repository comes with CAD models imported from STEP files to FreeCAD format (FCStd).
 - Package has been developed and tested in ROS 2 Humble.
+- The definitions for the `ros2_control` framework are available in the [robotiq_hande_gripper.ros2_control.xacro](./urdf/robotiq_hande_gripper.ros2_control.xacro) file.
 
 
 > [!IMPORTANT]