Credits

Effector Lab is built on open models, scans and software. This page lists each one, its licence and what was changed. Everything else, including every designed finger and every industrial part, is our own work under Apache-2.0.

3D models in replays

An open-source parallel gripper, CC BY 4.0, modified (full credit)

Used for: left jaw, jaw carriage, right jaw, gripper frame (5 files).

Modified: cut at the jaw root plane, re-posed into the palm and jaw frames, re-encoded as GLB.

CC-BY-4.0

Simulation model of an open-source industrial gripper, BSD-3-Clause, modified (full credit)

Used for: gripper frame (2 files).

Modified: the simulation model's collision geometry only, as the simulator used it, re-posed into the replay body frame, re-encoded as GLB.

BSD-3-Clause

Gripper

Robonine, SO-ARM 102, https://github.com/roboninecom/SO-ARM-102, CC BY 4.0

Its simulation meshes (simulation/urdf/meshes, commit 190eb162) are the source of the gripper frame and jaw carriages drawn in replays, and of the stock finger entrant. In replays and videos it is called “an open-source parallel gripper”.

Modified: cut at the jaw root plane into carriage and blade; re-posed into the simulator's palm and jaw frames (the right clamp moved 1.0 mm so the jaws are symmetric); split into convex collision pieces for the stock finger (CoACD threshold 0.02, seed 0, at most 40 pieces); re-encoded as GLB, and compressed for the web.

CC-BY-4.0

SO-ARM 102 fabrication CAD (models/)

Not used or shipped: the print pack's jaw interface is our own model, drawn from documented dimensions. A print file derived from this CAD would carry the CERN-OHL-P-2.0 notice and a list of the changes.

CERN-OHL-P-2.0

Effector models (product mode)

UMI Gripper (Universal Manipulation Interface) by the Columbia Artificial Intelligence and Robotics Lab; MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie); MIT, Copyright (c) 2023 Columbia Artificial Intelligence and Robotics Lab

MIT

Upstream: https://github.com/google-deepmind/mujoco_menagerie@62ab00f2.

Modified: replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull); written as OBJ in the upstream file's frame and units.

YAM arm linear gripper by I2RT Robotics; MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie), derived from https://github.com/i2rt-robotics/i2rt (MIT); MIT, Copyright (c) 2025 i2rt robotics

MIT

Upstream: https://github.com/google-deepmind/mujoco_menagerie@62ab00f2.

Unmodified.

PiPER arm gripper by AgileX Robotics; MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie), derived from https://github.com/agilexrobotics/Piper_ros (MIT); MIT, Copyright (c) 2024 RosenYin

MIT

Upstream: https://github.com/google-deepmind/mujoco_menagerie@62ab00f2.

Unmodified.

Allegro Hand v3 (right) by Wonik Robotics; MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie), derived from SimLab's allegro_hand_ros URDF; BSD-2-Clause, Copyright (c) 2016, SimLab

BSD-2-Clause

Upstream: https://github.com/google-deepmind/mujoco_menagerie@62ab00f2.

Unmodified.

Apache-2.0

Upstream: https://github.com/google-deepmind/mujoco_menagerie@62ab00f2.

Modified: replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull), reduced to at most 64 vertices; written as OBJ in the upstream file's frame and units.

Sharpa Wave hand (right) by Sharpa Robotics; MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie), derived from https://github.com/sharpa-robotics/sharpa-urdf-usd-xml; Apache-2.0, Copyright 2025 Sharpa Group

Apache-2.0

Upstream: https://github.com/google-deepmind/mujoco_menagerie@62ab00f2.

Unmodified.

Effector library (open hardware and simulation models)

Each item below is mirrored at a pinned upstream commit, with its licence files, under the licence its maker chose. Library pages call items by generic names; this section is where makers are named.

"XLeRobot soft fin" by the XLeRobot contributors, https://github.com/Vector-Wangel/XLeRobot (commit b017b5e), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Library item TPU fin-style compliant finger (2 files). Copyright the XLeRobot contributors.

Licence covers: Apache-2.0: the hardware files.

Upstream: https://github.com/Vector-Wangel/XLeRobot at commit b017b5e6.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Co-design soft gripper (CoRL 2025)" by Yisha and co-authors, https://github.com/yswhynot/codesign-soft-gripper (commit 64c886d), licensed MIT (https://spdx.org/licenses/MIT.html)

MIT

Licence covers: MIT: code and hardware files.

Upstream: https://github.com/yswhynot/codesign-soft-gripper at commit 64c886df.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Robotiq 2F-85 (v4) MJCF model" by ROS-Industrial and MuJoCo Menagerie contributors, https://github.com/google-deepmind/mujoco_menagerie (commit 62ab00f), licensed BSD-2-Clause (https://spdx.org/licenses/BSD-2-Clause.html); MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie)

BSD-2-Clause

Licence covers: BSD-2-Clause: the simulation model (MJCF and meshes).

Upstream: https://github.com/google-deepmind/mujoco_menagerie at commit 62ab00f2.

Modified:

the effector subtree from body 'base' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
13 visual-only geoms removed (the catalog preview draws the upstream visuals) (1 file)
contact priority set to 0 on 4 geoms (the part's contact parameters govern every contact) (1 file)
1 element or class names carrying a maker's or product's name renamed (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (6 files)
written as OBJ in the upstream file's frame, scaled to metres (6 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"UFACTORY Lite 6 gripper MJCF model" by UFACTORY Inc. and MuJoCo Menagerie contributors, https://github.com/google-deepmind/mujoco_menagerie (commit 62ab00f), licensed BSD-3-Clause (https://spdx.org/licenses/BSD-3-Clause.html); MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie)

BSD-3-Clause

Licence covers: BSD-3-Clause: the simulation model (MJCF and meshes).

Upstream: https://github.com/google-deepmind/mujoco_menagerie at commit 62ab00f2.

Modified:

the effector subtree from body 'gripper_body' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
1 visual-only geoms removed (the catalog preview draws the upstream visuals) (1 file)
1 element or class names carrying a maker's or product's name renamed (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (3 files)
written as OBJ in the upstream file's frame, scaled to metres (3 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"norma-core pgripper" by the norma-core contributors, https://github.com/norma-core/norma-core (commit 0d17bb3), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Library item Parallel gripper with a camera holder (8 files). Copyright the norma-core contributors.

Licence covers: Apache-2.0: the gripper folder (its own LICENSE; the repository root is MIT).

Upstream: https://github.com/norma-core/norma-core at commit 0d17bb30.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Franka Emika Panda hand MJCF model" by Franka Robotics GmbH and MuJoCo Menagerie contributors, https://github.com/google-deepmind/mujoco_menagerie (commit 62ab00f), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0); MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie)

Apache-2.0

Library item Two-finger parallel cobot hand, 80 mm (4 files). Copyright Franka Robotics GmbH (formerly Franka Emika GmbH); MJCF by the MuJoCo Menagerie contributors.

Licence covers: Apache-2.0: the simulation model (MJCF and meshes).

Upstream: https://github.com/google-deepmind/mujoco_menagerie at commit 62ab00f2.

Modified:

the effector subtree from body 'hand' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
9 visual-only geoms removed (the catalog preview draws the upstream visuals) (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (2 files)
written as OBJ in the upstream file's frame, scaled to metres (2 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"SSG-48 adaptive electric gripper" by Source Robotics, https://github.com/Source-Robotics/SSG-48-adaptive-electric-gripper (commit cb99f63), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Library item Force-controlled parallel gripper, 48 mm stroke (14 files). Copyright Source Robotics and the SSG-48 contributors.

Licence covers: Apache-2.0: mechanical files, simulation model, software and documentation (one LICENSE for the repository).

Upstream: https://github.com/Source-Robotics/SSG-48-adaptive-electric-gripper at commit cb99f63e.

Modified:

the effector subtree from body 'gripper' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
1 element or class names carrying a maker's or product's name renamed (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (3 files)
written as OBJ in the upstream file's frame, scaled to metres (3 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"SO-ARM100/101 Parallel Gripper" by Robonine, https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper (commit 305ad0f), licensed CERN-OHL-P-2.0 (https://ohwr.org/cern_ohl_p_v2.txt); description Apache-2.0; documentation CC-BY-4.0

CERN-OHL-P-2.0, Apache-2.0, CC-BY-4.0

Licence covers: CERN-OHL-P-2.0: the hardware (print files, CAD) and the two clamp meshes; Apache-2.0: the robot description (URDF) and the wrist mesh; CC-BY-4.0: documentation.

Upstream: https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper at commit 305ad0f6.

Modified:

converted from the upstream URDF (so_101.urdf.xacro) to MJCF: links clamp_1, clamp_2, link5_1 (1 file)
the clamp position servo (kp 3000 N/m, force limit 120 N, the published grip) is ours: the description declares no actuator (1 file)
the mirrored clamp follows through a joint equality (the description's mimic tag) (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (3 files)
written as OBJ in the upstream file's frame, scaled to metres (3 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"UFACTORY xArm gripper MJCF model" by UFACTORY Inc. and MuJoCo Menagerie contributors, https://github.com/google-deepmind/mujoco_menagerie (commit 62ab00f), licensed BSD-3-Clause (https://spdx.org/licenses/BSD-3-Clause.html); MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie)

BSD-3-Clause

Licence covers: BSD-3-Clause: the simulation model (MJCF and meshes).

Upstream: https://github.com/google-deepmind/mujoco_menagerie at commit 62ab00f2.

Modified:

the effector subtree from body 'xarm_gripper_base_link' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
2 visual-only geoms removed (the catalog preview draws the upstream visuals) (1 file)
contact priority set to 0 on 4 geoms (the part's contact parameters govern every contact) (1 file)
2 element or class names carrying a maker's or product's name renamed (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (5 files)
written as OBJ in the upstream file's frame, scaled to metres (5 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Grip4SO101" by Xiujin Liu, https://github.com/XiujinLiu/Grip4SO101 (commit 8dd3a23), licensed MIT (https://spdx.org/licenses/MIT.html)

MIT

Licence covers: MIT: CAD and print files.

Upstream: https://github.com/XiujinLiu/Grip4SO101 at commit 8dd3a232.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Schunk WSG 50 model (Drake models repository)" by Toyota Research Institute, https://github.com/RobotLocomotion/models (commit f85076b), licensed BSD-3-Clause (https://spdx.org/licenses/BSD-3-Clause.html)

BSD-3-Clause

Licence covers: BSD-3-Clause: the simulation model, drawn from scratch.

Upstream: https://github.com/RobotLocomotion/models at commit f85076b4.

Modified:

converted from the upstream SDF (schunk_wsg_50.sdf) to MJCF: the same boxes, poses, masses and joint limits (1 file)
rotational inertia computed from each collision box at the declared mass (the upstream inertia values are placeholders) (1 file)
one position servo (kp 2000 N/m) at the model's 80 N effort limit drives the left finger; the right finger mirrors it (Drake actuates both) (1 file)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"ALOHA gripper MJCF model" by Trossen Robotics and MuJoCo Menagerie contributors, https://github.com/google-deepmind/mujoco_menagerie (commit 62ab00f), licensed BSD-3-Clause (https://spdx.org/licenses/BSD-3-Clause.html); MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie); "ALOHA 2 gripper finger STLs" by Tony Z. Zhao, https://github.com/tonyzhaozh/aloha (commit 06369f0), licensed MIT (https://spdx.org/licenses/MIT.html)

BSD-3-Clause, MIT

Licence covers: BSD-3-Clause: the simulation model (MJCF and meshes); MIT: the printable finger sets (STL archives) of the teleoperation project.

Upstream: https://github.com/google-deepmind/mujoco_menagerie at commit 62ab00f2; also pinned: https://github.com/tonyzhaozh/aloha at commit 06369f03.

Modified:

the effector subtree from body 'left/gripper_base' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
6 visual-only geoms removed (the catalog preview draws the upstream visuals) (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (6 files)
written as OBJ in the upstream file's frame, scaled to metres (6 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"SO-ARM100 MJCF model" by The Robot Studio and MuJoCo Menagerie contributors, https://github.com/google-deepmind/mujoco_menagerie (commit 62ab00f), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0); MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie); "SO-ARM100 / SO-101 moving jaw" by The Robot Studio, https://github.com/TheRobotStudio/SO-ARM100 (commit a758567), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Library item Angular-jaw gripper of an open hobby arm (10 files). Copyright The Robot Studio and the SO-ARM100 contributors.

Licence covers: Apache-2.0: the simulation model and the arm's printable parts.

Upstream: https://github.com/google-deepmind/mujoco_menagerie at commit 62ab00f2; also pinned: https://github.com/TheRobotStudio/SO-ARM100 at commit a758567c.

Modified:

the effector subtree from body 'Fixed_Jaw' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
3 visual-only geoms removed (the catalog preview draws the upstream visuals) (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (5 files)
written as OBJ in the upstream file's frame, scaled to metres (5 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"BCN3D Moveo gripper" by BCN3D Technologies, https://github.com/BCN3D/BCN3D-Moveo (commit 0866a92), licensed MIT (https://spdx.org/licenses/MIT.html)

MIT

Licence covers: MIT: CAD and STL files.

Upstream: https://github.com/BCN3D/BCN3D-Moveo at commit 0866a925.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Shadow DEX-EE MJCF model" by The Shadow Robot Company and MuJoCo Menagerie contributors, https://github.com/google-deepmind/mujoco_menagerie (commit 62ab00f), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0); MJCF from MuJoCo Menagerie (Google DeepMind, https://github.com/google-deepmind/mujoco_menagerie)

Apache-2.0

Library item Three-finger 12-joint industrial hand (10 files). Copyright The Shadow Robot Company.

Licence covers: Apache-2.0: the simulation model (MJCF and meshes), provided by the maker.

Upstream: https://github.com/google-deepmind/mujoco_menagerie at commit 62ab00f2.

Modified:

the effector subtree from body 'hand' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
81 visual-only geoms removed (the catalog preview draws the upstream visuals) (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (8 files)
written as OBJ in the upstream file's frame, scaled to metres (8 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"AmazingHand" by Pollen Robotics, https://github.com/pollen-robotics/AmazingHand (commit 3e82410), licensed CC-BY-4.0 (https://creativecommons.org/licenses/by/4.0/); code Apache-2.0

CC-BY-4.0, Apache-2.0

Library item Low-cost printed four-finger hand, 8 actuators (11 files). Copyright Pollen Robotics.

Licence covers: CC-BY-4.0: the mechanical design (stated in the README); Apache-2.0: code (LICENSE).

Upstream: https://github.com/pollen-robotics/AmazingHand at commit 3e824107.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"MIDAS hand MuJoCo model" by MIDAS Hand Contributors (UCLA RoMeLa), https://github.com/midas-hand-org/midas_hand_mujoco (commit 6c7d17f), licensed MIT (https://spdx.org/licenses/MIT.html)

MIT, CERN-OHL-P-2.0

Licence covers: MIT: the simulation model; CERN-OHL-P-2.0: the hardware design (stated on the project's licensing page), linked.

Upstream: https://github.com/midas-hand-org/midas_hand_mujoco at commit 6c7d17f4.

Modified:

the effector subtree from body 'palm_base' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
21 visual-only geoms removed (the catalog preview draws the upstream visuals) (1 file)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"ORCA hand description (v2)" by ORCA, https://github.com/orcahand/orcahand_description (commit b9b349a), licensed MIT (https://spdx.org/licenses/MIT.html); "ORCA Hand v2 hardware" by ORCA Dexterity, Inc., https://github.com/orcahand/orcahand_hardware (commit 37b71dc), licensed CC-BY-4.0 (https://creativecommons.org/licenses/by/4.0/)

MIT, CC-BY-4.0

Licence covers: MIT: the robot description (MJCF, URDF, meshes); CC-BY-4.0: the hardware design files (print files, CAD, molds), linked.

Upstream: https://github.com/orcahand/orcahand_description at commit b9b349a2; also pinned: https://github.com/orcahand/orcahand_hardware at commit 37b71dc0.

Modified:

the effector subtree from body 'right_tower' written as one MJCF by MuJoCo 3.15.0 (1 file)
every body's mass, centre of mass and inertia pinned at the upstream model's compiled values (1 file)
11 visual-only geoms removed (the catalog preview draws the upstream visuals) (1 file)
contact margin set to 0 on 19 geoms (the shared scene refuses effector contact margins) (1 file)
replaced by its convex hull, the shape MuJoCo's collision detector uses (MuJoCo 3.15.0, qhull) (16 files)
written as OBJ in the upstream file's frame, scaled to metres (16 files)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"SO-101 compliant gripper" by The Robot Studio, https://github.com/TheRobotStudio/SO-ARM100 (commit a758567), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Library item Compliant TPU moving jaw for a hobby-arm gripper (3 files). Copyright The Robot Studio and the SO-ARM100 contributors.

Licence covers: Apache-2.0: the print files.

Upstream: https://github.com/TheRobotStudio/SO-ARM100 at commit a758567c.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"assembler0 magnetic follower gripper static part" by Jack Vial, https://github.com/jackvial/assembler0 (commit 841a758), licensed MIT (https://spdx.org/licenses/MIT.html)

MIT

Licence covers: MIT: OpenSCAD source and STL.

Upstream: https://github.com/jackvial/assembler0 at commit 841a758a.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"UFACTORY xArm vacuum gripper description" by UFACTORY Inc., https://github.com/xArm-Developer/xarm_ros2 (commit 62936f7), licensed BSD-3-Clause (https://spdx.org/licenses/BSD-3-Clause.html)

BSD-3-Clause

Licence covers: BSD-3-Clause: the robot description and meshes.

Upstream: https://github.com/xArm-Developer/xarm_ros2 at commit 62936f7e.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"robosuite suction gripper MJCF" by the robosuite authors (Stanford SVL and UT RPL), https://github.com/ARISE-Initiative/robosuite (commit 5ce6643), licensed MIT (https://spdx.org/licenses/MIT.html)

MIT

Licence covers: MIT: the MJCF.

Upstream: https://github.com/ARISE-Initiative/robosuite at commit 5ce6643f.

Files mirrored unmodified.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Stretch Tool Share button pusher (v2)" by Hello Robot Inc. and Henry Evans, https://github.com/hello-robot/stretch_tool_share (commit 802e128), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Licence covers: Apache-2.0: the tool's print file.

Upstream: https://github.com/hello-robot/stretch_tool_share at commit 802e1287.

Modified:

convex piece of a rigid proxy (CoACD threshold 0.02, seed 0), in the mount frame, metres (16 files)
a rigid simulation proxy generated by Effector Lab from the part's own mesh: rigid proxy: 16 convex pieces (CoACD threshold 0.02, seed 0); PLA at 1.24 g/cm3 x 0.4 infill (assumed) (1 file)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Stretch Tool Share puller (v1)" by Hello Robot Inc., https://github.com/hello-robot/stretch_tool_share (commit 802e128), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Licence covers: Apache-2.0: the tool's CAD and print files.

Upstream: https://github.com/hello-robot/stretch_tool_share at commit 802e1287.

Modified:

convex piece of a rigid proxy (CoACD threshold 0.02, seed 0), in the mount frame, metres (16 files)
a rigid simulation proxy generated by Effector Lab from the part's own mesh: rigid proxy: 16 convex pieces (CoACD threshold 0.02, seed 0); PLA at 1.24 g/cm3 x 0.4 infill (assumed) (1 file)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Stretch Tool Share dry-erase marker holder (v1)" by Hello Robot Inc., https://github.com/hello-robot/stretch_tool_share (commit 802e128), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Licence covers: Apache-2.0: the tool's mesh and description.

Upstream: https://github.com/hello-robot/stretch_tool_share at commit 802e1287.

Modified:

convex piece of a rigid proxy (CoACD threshold 0.02, seed 0), in the mount frame, metres (16 files)
a rigid simulation proxy generated by Effector Lab from the part's own mesh: rigid proxy: 16 convex pieces (CoACD threshold 0.02, seed 0); PLA at 1.24 g/cm3 x 0.4 infill (assumed); mass from the convex pieces: the mesh does not enclose a volume (1 file)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"assembler0 SO-101 screwdriver" by Jack Vial, https://github.com/jackvial/assembler0 (commit 841a758), licensed MIT (https://spdx.org/licenses/MIT.html)

MIT

Licence covers: MIT: OpenSCAD sources and STL files.

Upstream: https://github.com/jackvial/assembler0 at commit 841a758a.

Modified:

convex piece of a rigid proxy (CoACD threshold 0.02, seed 0), in the mount frame, metres (32 files)
a rigid simulation proxy generated by Effector Lab from the part's own mesh: rigid proxy: 32 convex pieces (CoACD threshold 0.02, seed 0); PLA at 1.24 g/cm3 x 0.4 infill (assumed) (1 file)

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

Generated adapters (our own work, Apache-2.0)

"Adapter from ISO 50-4-M6 to ISO 31.5-4-M5" generated by Effector Lab (rtt.library.adapters), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Licence covers: Apache-2.0: generator, STL, MJCF and the dimension table (our own work).

Our own work, generated by this project, under Apache-2.0. No upstream.

Generated files, not modified after generation.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Tool plate for an ISO 9409-1-31.5-4-M5 flange" generated by Effector Lab (rtt.library.adapters), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Licence covers: Apache-2.0: generator, STL, MJCF and the dimension table (our own work).

Our own work, generated by this project, under Apache-2.0. No upstream.

Generated files, not modified after generation.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

"Tool plate for an ISO 9409-1-50-4-M6 flange" generated by Effector Lab (rtt.library.adapters), licensed Apache-2.0 (https://www.apache.org/licenses/LICENSE-2.0)

Apache-2.0

Licence covers: Apache-2.0: generator, STL, MJCF and the dimension table (our own work).

Our own work, generated by this project, under Apache-2.0. No upstream.

Generated files, not modified after generation.

Web preview: drawn from the item's own geometry in its reference pose, simplified by vertex clustering; re-encoded as GLB (Y up, metres) in one flat grey, with generic node names.

Scanned objects

Google Scanned Objects by Google Research (Downs et al., ICRA 2022, arXiv:2204.11918), CC BY 4.0

Licensed under CC BY 4.0, provided as is, without warranties.

Used for held-out test objects and props, through the MuJoCo models by Kevin Zakka (kevinzakka/mujoco_scanned_objects, commit 6ff8d275; scans CC BY 4.0, MJCF XML MIT).

Modified: for simulation, split into convex pieces (CoACD threshold 0.02, seed 0) and re-posed into the object frame; for display, meshes simplified to 50%, textures re-encoded as WebP and the result re-encoded as GLB.

Scans whose textures show a brand mark are drawn untextured.

CC-BY-4.0