From 6b26d79cb8ef56eab0b84101e41bc22d36bc7d7b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Daniel=20San=20Jos=C3=A9=20Pro?=
<42489409+danielsanjosepro@users.noreply.github.com>
Date: Thu, 29 Jan 2026 17:32:36 +0100
Subject: [PATCH 1/2] chore: Added gripper
---
docs/getting_started_controllers.md | 2 +-
docs/index.md | 22 ++++++++++++
docs/media/aloha4franka_visual.png | Bin 0 -> 247128 bytes
docs/media/franka_hand_visual.png | Bin 0 -> 146416 bytes
docs/stylesheets/extra.css | 50 ++++++++++++++++++++++++++++
5 files changed, 73 insertions(+), 1 deletion(-)
create mode 100644 docs/media/aloha4franka_visual.png
create mode 100644 docs/media/franka_hand_visual.png
diff --git a/docs/getting_started_controllers.md b/docs/getting_started_controllers.md
index bb4b17d..a56b541 100644
--- a/docs/getting_started_controllers.md
+++ b/docs/getting_started_controllers.md
@@ -31,7 +31,7 @@ Grippers that we tested are:
- **Franka Hand**: a node is included in the [fr3 pixi](https://github.com/danielsanjosepro/pixi_franka_ros2) and [panda pixi](https://github.com/lvjonok/pixi_panda_ros2) repositories which is started automatically with the robot. If the Franka Hand is not connected, the node will crash silently. Checkout [this config](https://github.com/utiasDSL/crisp_py/blob/main/crisp_py/config/grippers/gripper_franka.yaml) for using it with `crisp_py`.
- Any **Dynamixel**-based gripper: https://github.com/danielsanjosepro/dynamixel_wrapper - check README.md
-- **Robotiq 2F-85**: work in progress...
+- **Robotiq 2F-85**: https://github.com/danielsanjosepro/pixi_robotiq_ros2
### Cameras
diff --git a/docs/index.md b/docs/index.md
index 7b86840..9b375a5 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -134,6 +134,28 @@ Our controllers have been tested in real hardware on the following robots:
+Grippers tested in real hardware:
+
+ 
+ 
+