Allegro Hand v5 ROS 2

Wonik Robotics

Official ROS 2 control and feedback packages for the four-finger Allegro v5 hand.

What you can explore

Explore the manufacturer’s Humble setup, controller packages and visualization.

Before you use it

The repository explicitly excludes v4. Check current firmware and sensor-specific support for your v5 variant.

Original contributors

Wonik Robotics / Soohoon Yang and contributors

License / access: BSD-2-Clause · check model, data and dependency terms separately

Original code & documentation

Editorial reference · checked 2026-09-22