LiteGrip is an adaptive two-finger parallel gripper from NEXFORM ROBOTICS, designed for research and education, AI robotics development, and lightweight industrial automation. It uses direct motor drive and an adaptive grasping mechanism, with an effective stroke of 85.000 mm. The gripper communicates with the host computer through a USB-CAN adapter (classic CAN, 1 Mbps), and suits grasping, handling, loading and unloading, sorting, and algorithm validation.
This repository is the documentation source for LiteGrip. It indexes the manuals, SDKs, drivers, simulation environments, models and host application, and records the latest release of each.
| Manual | Reader | Contents |
|---|---|---|
| Product Manual | Users and installers | Specifications, electrical interface, installation, maintenance, troubleshooting |
| Software Development Manual | Integrators | SDK installation and usage, ecosystem integration, and a condensed CAN protocol appendix |
The documentation covers:
- The SDK development interface — installation, and each interface's parameters, return values, preconditions and exceptions.
- Product specifications and installation — stroke, gripping force, load, electrical parameters, wiring and mounting.
- Troubleshooting — how to work through communication, motion, calibration and force-control problems.
| Component | Repository | Latest version | Released |
|---|---|---|---|
| Python SDK | litegrip-python | v1.1.0 | 2026-10-14 |
| C++ SDK | litegrip-cpp | v1.0.9 | 2026-10-14 |
| ROS 1 driver | litegrip-ros1 | Not released | — |
| ROS 2 driver | litegrip-ros2 | v0.1.0 | 2026-09-28 |
| MoveIt 2 configuration | litegrip-moveit2 | v0.1.1 | 2026-10-12 |
| MuJoCo simulation | litegrip-mujoco | v0.5.0 | 2026-10-10 |
| PyBullet simulation | litegrip-pybullet | v0.6.1 | 2026-10-10 |
| Isaac Sim simulation | litegrip-isaacsim | v1.0.1 | 2026-09-27 |
| URDF model | litegrip-description | v1.0.0 | 2026-10-12 |
| Host application | litegrip-studio | v0.12.4 | 2026-10-14 |
One row says "Not released". litegrip-ros1 is a placeholder: the repository is initialized, but
its source code, packaging and documentation have not landed yet, so there is nothing to install.
Every release in this table is source only. None of these repositories attaches a compiled package, so there is no per-platform binary to download. For a component's version history, open its Releases page.
The Python SDK is not on PyPI yet. Install it from a checkout:
git clone https://github.com/nexform-tech/litegrip-python.git
cd litegrip-python
python3 -m pip install .litegrip-description holds the model, and it is released:
v1.0.0. The ROS 2 package is named litegrip_description.
| Item | Value |
|---|---|
| Robot description | litegrip_description/urdf/litegrip_description.urdf.xacro — the single source of truth |
| Links | base_footprint (root), base_link, gripper_slider_link1 (right), gripper_slider_link2 (left) |
| Joints | gripper_slide_joint_right (+X), gripper_slide_joint_left (-X), both prismatic |
| Meshes | Three STL files: base_link.STL, gripper_slider_link1.STL, gripper_slider_link2.STL |
| Launch files | display.launch.py, ros2_control.launch.py, gazebo.launch.py |
| Requirements | ROS 2 Humble on Ubuntu 22.04, system Python 3.10 |
The two joints take the same sign to move the fingers symmetrically, because their axes point
opposite ways. The shipped model's per-finger travel default is 0.042726 m.
ros2 launch litegrip_description display.launch.pyAdd stroke:= to override the per-finger travel used by the model.
The simulations use this model rather than a separate one. PyBullet loads the upstream xacro and normalises it at load time, and MuJoCo builds its MJCF on the same three STL meshes.
Example scripts are in litegrip-python/examples.
The Q&A sections of both manuals answer the common questions first. If you cannot resolve a problem yourself, the Software Development Manual lists what to record before you contact us. Support comes from the NEXFORM ROBOTICS technical team; the contact details are on the documents shipped with the product and through your sales channel.
This repository follows the shared NEXFORM ROBOTICS repository standards: the agent operating rules
in AGENTS.md, Conventional Commits, and automated semantic-release versioning on every
merge to main.
Copyright © 2026 NEXFORM ROBOTICS. Licensed under the Apache License 2.0.