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Effector Lab

Library

Open, licence-clean end-effectors: grippers, hands, suction cups, tools and mounting adapters. Each item comes with its files, its specs and their sources, its mounting interface, capability tags and a simulation status. Names on screen are generic; the makers are credited on the credits page.

Each entrant is built in the tournament's shared scene on the training parts. That gate, and its nominal episodes, are product mode. The benchmark's pre-registered result is on Results.

Items
29
Entrant specs
19
from 17 items
Native
16
simulation
Proxy
5
simulation
Visual only
8
simulation
Listed, not mirrored
17
Excluded, amber
23
Excluded, red
26

Catalog

Showing 29 of 29 items.

Listed, not mirrored

These items are open, but their files are not in this repository. Each row says why. The link goes to the upstream files.

ItemLicenceWhy it is not mirroredUpstream
Universal jamming gripper (balloon and granular fill)jammingCC-BY-4.0The host blocks scripted downloads with a bot check, so the files are not mirrored: link only; jamming physics is not modelled yet.Link
Hobby six-axis arm servo gripperpinchCC-BY-4.0The host blocks scripted downloads with a bot check, so the files are not mirrored: link only.Link
Two-joint servo gripper and clamppinchCC-BY-4.0The host blocks scripted downloads with a bot check, so the files are not mirrored: link only.Link
Dual-material flex gripperpinchCC-BY-4.0The host blocks scripted downloads with a bot check, so the files are not mirrored: link only.Link
Three-finger TPU fin-ray adaptive gripperpinchpowerCC-BY-4.0The host blocks scripted downloads with a bot check, so the files are not mirrored: link only.Link
Fin-ray soft gripper for multi-robot caging (2026 open-hardware article)pinchwrapCC-BY-4.0The data-repository link and its licence must be verified first (the article page needs a login for automated reading).Link
Anthropomorphic research hand (2020 open-hardware article)pinchpowerMITThe CAD is on a separate data repository whose licence must be confirmed to match the code's MIT.Link
Three-joint finger modules (open dynamic robot platform)pinchBSD-3-ClauseNext tranche: simulation model to convert.Link
Five-finger prosthetic-class hand, simulation modelpinchpowerMITNext tranche: simulation model of a commercial hand.Link
Three-finger 7-joint humanoid hand, simulation modelpinchpowerBSD-3-ClauseNext tranche: must be cut from a humanoid model.Link
Adaptive two-finger servo gripper, simulation modelpinchpowerApache-2.0Next tranche: URDF to convert.Link
Compact two-finger arm gripper, simulation modelpinchBSD-3-ClauseNext tranche: URDF to convert.Link
Two-finger adaptive 140 mm and three-finger adaptive grippers, simulation modelspinchpowerBSD-2-ClauseNext tranche: URDF to convert (archived upstream).Link
Low-cost arm gripperpinchApache-2.0Next tranche: simulation model exists.Link
Arm-integrated parallel grippers, simulation models (several arms)pinchBSD-3-ClauseNext tranche: each must be cut from its arm model (MIT, BSD-3-Clause or Apache-2.0 per folder).Link
Robot-learning gripper set: generic three-finger, wiping tool, parallelpinchtoolMITNext tranche: generic simulation templates.Link
Simulation-format conversions of several grippers and handsApache-2.0A format source only: the library uses the MJCF originals.Link

Not included, and why

Amber items have share-alike, reciprocal or unclear licences. They are excluded by the founder's decision of 2026-10-18. Red items are non-commercial, unlicensed or under terms that forbid redistribution.

Licence audit of 2026-10-18: Licence facts read from upstream LICENSE files, READMEs and listing pages on 2026-10-18; not legal advice.

ItemRatingLicenceReasonUpstream
Cobot parallel and vacuum grippers (third-party simulation package)AmberMITThird-party repackaging; the meshes' provenance is not stated (likely vendor CAD).Link
Industrial parallel gripper, wrist and three-finger hand (third-party models)AmberApache-2.0Third-party vendor geometry, unmaintained since 2022.Link
Three-finger spread hand (2013 model)Ambercustom terms (manifest only)A licence named only in a package manifest, no LICENSE file.Link
Five-finger hands converted from vendor CAD (three makers)AmberMITMeshes converted from vendor CAD by third parties.Link
Compliant two-finger gripper of a mobile manipulator, simulation modelAmberApache-2.0The maker licenses the same robot parts CC-BY-NC-SA-4.0.Link
Compliant stepper parallel gripperAmberCERN-OHL-S-2.0Strongly reciprocal: modified files and products must publish their source.Link
Low-cost parallel gripper (share-alike)AmberCC-BY-SA-4.0Share-alike.Link
Hand-exoskeleton capture adaptersAmberMITThe CAD's licence is not stated.Link
Two-finger servo gripper (share-alike)AmberCC-BY-SA-4.0Share-alike.Link
Hobby-arm gripper (share-alike)AmberCC-BY-SA-4.0Share-alike.Link
Desktop-arm gripper and vacuum accessoriesAmberGPL-3.0-onlyCopyleft, and a software licence on CAD is ambiguous.Link
Humanoid-arm parallel gripper hardwareAmberCERN-OHL-S-2.0Reciprocal hardware licence (its Apache-2.0 simulation model is not ingested in this version).Link
Tactile parallel gripper add-onAmbernot statedThe hardware licence is not confirmed.Link
Tendon-driven humanoid hand (university lab)AmberMITMIT code; the CAD's licence is not stated.Link
Underactuated adaptive hands (research lab)AmberCC-BY-SA-4.0Share-alike.Link
Five-finger research hands (prosthetics maker)AmberCC-BY-SA-4.0Share-alike, and no LICENSE file in one repository.Link
Three-finger 9-joint manipulator (research platform)AmberApache-2.0Apache-2.0 code and simulation; the CAD's licence is not stated.Link
16-joint four-finger hand, simulation modelAmberMITThe geometry copies a non-commercial hardware design: simulation only, never printable.Link
Tendon five-finger hand, simulation modelAmberApache-2.0Three licences on one geometry (simulation Apache-2.0, description CC-BY-SA-4.0, hardware CC-BY-NC-SA-4.0).Link
Cobot end-of-arm prototypes: bellows vacuum pad, non-contact and magneticAmberMITThe adapters are the author's, but the embedded vendor part models are likely vendor CAD.Link
Electropermanent magnet gripperAmberCC-BY-SA-4.0Share-alike hardware and GPL firmware; the product is discontinued.Link
Cobot tool changer and tools (university lab)Ambernot statedNo licence in a file; MIT appears only in a commented-out README section.Link
Printed tool changer for printer headsAmbercustom terms (conflicting statements)A CC0 LICENSE file conflicts with non-commercial README text.Link
Underactuated research hands, university lab (nine models)RedCC-BY-NC-3.0Non-commercial.Link
16-joint four-finger hand hardwareRedCC-BY-NC-4.0Non-commercial (CAD under non-commercial share-alike terms).Link
Tendon five-finger hand hardwareRedCC-BY-NC-SA-4.0Non-commercial; commercial use only for purchased units.Link
Printed humanoid robot hand (maker community)RedCC-BY-NC-4.0Non-commercial.Link
Dexterous hobby handRedCC-BY-NC-SA-4.0Non-commercial.Link
Humanoid hands of a hobby-arm makerRednone (no licence)No licence file: all rights reserved despite an open-source label.no public files
Commercial prosthetic armRednone (no licence)A commercial medical device; no design files were found.no public files
A mobile manipulator's own parts and default gripper CADRedCC-BY-NC-SA-4.0Non-commercial.Link
Soft bubble gripper build filesRedCC-BY-NC-4.0Non-commercial.Link
Tactile fingertipRedCC-BY-NC-4.0Non-commercial.Link
Vacuum end-effector for a cobot plate (dataset project)RedCC-BY-NC-SA-3.0Non-commercial.no public files
Fabricatable tools: extruder, teaching tools, arm adaptersRedCC-BY-NC-SA-4.0Non-commercial.no public files
Open tool changer for small industrial robotsRedCC-BY-NC-SA-4.0The instructions page is non-commercial and the repository has no licence.no public files
Hobby-arm parallel gripper (second edition)RedCC-BY-NC-4.0Non-commercial.Link
Mantis-derived arm gripperRedCC-BY-NC-4.0Non-commercial.Link
Collaborative servo gripper with cameraRedCC-BY-NC-4.0Non-commercial.Link
Soft robotics toolkit designs (university)Rednone (no licence)No licence statement on the site: treated as all rights reserved, link only.no public files
Three-fingered adaptive gripper (university)Rednone (no licence)The repository has no licence; the paper's CC BY covers the article, not the files.no public files
Symmetrical gripper for a hobby armRednone (no licence)No licence.no public files
Precise gripper for a hobby armRednone (no licence)No licence.no public files
Rack-and-pinion gripper with 105 mm opening for a hobby armRednone (no licence)No licence (a good design: the author could be asked).no public files
Screwdriver for a low-cost armRednone (no licence)No licence (the same author's other screwdriver is in the library under MIT).no public files
Food-grade soft gripper moldsRednone (no licence)Licence not found.no public files
Source class: simulator asset packsRedcustom terms (simulator asset eula)The asset licence says the assets may not be modified or redistributed.no public files
Source class: CAD-sharing platform modelsRedcustom terms (platform eula)The site licence is non-sublicensable and non-transferable; used only when the author also posts the file under an open licence.no public files
Source class: vendor CAD portalsRedcustom terms (vendor cad portal)The terms forbid redistribution.no public files

Already in the effector catalog

These models were vendored for the effector tournament before the library existed, so the library does not mirror them again. They are on the effector pages.

Licence policy

Only files under these permissive licences are mirrored (the green lane):

  • CC0-1.0
  • CC-BY-3.0
  • CC-BY-4.0
  • MIT
  • MIT-0
  • 0BSD
  • ISC
  • Apache-2.0
  • BSD-2-Clause
  • BSD-3-Clause
  • BSD-3-Clause-Clear
  • Zlib
  • CERN-OHL-P-2.0

The chain rule: a file is only as clean as the worst link in its derivation chain. A converted, simplified or re-encoded file carries the licences of every file it came from.

Copyright licences cover files, not patents or trademarks. A simulation model of a product does not license the product's design or its name, so names on screen are generic.

Attribution: each item's credit line, copyright, pinned commit and changes are on the credits page.

ISO 9409-1 flange patterns

Dimension values are facts from published sources; the standard's text is not reproduced. Confirmed patterns are the ones the library ships adapters for. No ISO conformance is claimed: measure every unverified dimension before you use it.

PatternBoltsPitch circleCentringDowelAdapter shippedUnverified
ISO 9409-1-31.5-4-M5Seen on small gripper couplings, tool platesOne secondary source lists this pattern as M6; three primary sources give M5.4 x M531.5 mmsourced20 mmone secondary source, unverified5 mmassumedyes, confirmedcentring diameter, dowel
ISO 9409-1-40-4-M6Seen on tool plates4 x M640 mmsourced25 mmone secondary source, unverified6 mmassumednocentring diameter, dowel
ISO 9409-1-50-4-M6Seen on most 3 to 20 kg cobots, cobot gripper flanges4 x M650 mmsourced31.5 mmone secondary source, unverified6 mmsourcedyes, confirmedcentring diameter
ISO 9409-1-80-6-M8Seen on 20 to 35 kg cobots, mid-size industrial arms6 x M880 mmsourced50 mmone secondary source, unverified8 mmassumednocentring diameter, dowel

Provenance: assets/effectors/library/lock.json, manifest sha256 32ec3092b3c226f8.