Two-finger parallel cobot hand, 80 mm

The parallel hand most used in research labs: two flat fingers on coupled slides, about 80 mm open.

Parallel gripperNativeEntrantApache-2.0

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Facts

Kind: Parallel gripper
Class: Simulation model of a product (generic name)
Capabilities: pinchholds a part between two opposed tips or pads
Mount: The arm maker's tool flange.ISO pattern: ISO 9409-1-50-4-M6 (assumed, not read today)Suggested adapter: Tool plate for an ISO 9409-1-50-4-M6 flange
The arm maker's datasheet gives DIN ISO 9409-1-A50 (licence audit of 2026-10-18; not re-read today).

Specifications

Spec	Value	Basis	Source
Opening in the model	80 mm	Derived	derived from the files or the model
Finger force limit in the model	100 N	Derived	derived from the files or the model

Simulation

Status: NativeNative simulation model
Model source: Upstream MJCF.
Fidelity: Rigid model
Model: 1 actuator · 760 g
Note: A simulation model of a commercial hand, shipped under a generic name.
Tournament: Entrant1 entrant spec in the effector tournament.

Compile and attach gate

Each entrant spec is built in the tournament's shared scene on every training part. One nominal episode per built part (no placement error, seed 0) is information, not part of the gate.

Two-finger parallel cobot hand, 80 mm

GATE PASSED

Primitive: pinch
Actuators: 1
Mass: 760 g
Reach: 138.2 mm
Opening: 79.8 mm

Training part	Gate	Held (nominal)	Nominal outcome	Penetration
Block	built	no	Slipped during lift	0.03 mm
Steel slug	built	no	Slipped during lift	0.04 mm
Hex standoff	built	no	Slipped during lift	0.03 mm
L-bracket	built	no	Slipped during lift	0.08 mm
Pipe tee	built	no	Slipped during lift	0.08 mm
Flanged bushing	built	yes	held	0.05 mm

Held at nominal: Flanged bushing.

Licence

Apache-2.0Covers the simulation model (MJCF and meshes). Licence text

Licence rating: green. Full attribution: see the credits page.

Files

File	Type	Size	Licence	Changed
gripper-2f-cobot-hand-80.xmlassets/effectors/library/gripper-2f-cobot-hand-80/sim/gripper-2f-cobot-hand-80.xml	Simulation file (derived)	3.8 kB	Apache-2.0	modified
finger_0.objassets/effectors/library/gripper-2f-cobot-hand-80/sim/meshes/finger_0.obj	Simulation file (derived)	3.2 kB	Apache-2.0	modified
hand_c.objassets/effectors/library/gripper-2f-cobot-hand-80/sim/meshes/hand_c.obj	Simulation file (derived)	6.6 kB	Apache-2.0	modified

Each file links to its copy in the repository. Licence texts sit next to them in LICENSES/. What changed is on the credits page.

Upstream

Upstream repository, commit 62ab00f2