Two-finger parallel gripper, teleop-arm fingers

The gripper of a widely used bimanual teleoperation rig: two fingers on linear slides, with printable finger sets.

Parallel gripperNativeEntrantBSD-3-Clause, MIT

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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 teleoperation arm's wrist (arm-specific).ISO pattern: none (own interface)
No ISO flange; the gripper is part of the arm.

Specifications

Spec	Value	Basis	Source
Finger travel in the model	2 x 37 mm	Derived	derived from the files or the model

Simulation

Status: NativeNative simulation model
Model source: Upstream MJCF (one gripper of the bimanual model).
Fidelity: Rigid model
Model: 1 actuator · 594 g
Note: A simulation model of an arm-integrated gripper, cut from the bimanual model.
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 gripper, teleop-arm fingers

GATE PASSED

Primitive: pinch
Actuators: 1
Mass: 594 g
Reach: 150 mm
Opening: n/a

Training part	Gate	Held (nominal)	Nominal outcome	Penetration
Block	built	no	Missed grasp	0.24 mm
Steel slug	built	no	Missed grasp	0.17 mm
Hex standoff	built	no	Missed grasp	0.17 mm
L-bracket	built	no	Missed grasp	0.14 mm
Pipe tee	built	no	Missed grasp	0.03 mm
Flanged bushing	built	no	Missed grasp	0.11 mm

Held on no training part in the nominal episode.

Licence

BSD-3-ClauseCovers the simulation model (MJCF and meshes). Licence text
MITCovers the printable finger sets (STL archives) of the teleoperation project. Licence text

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

Files

File	Type	Size	Licence	Changed
fingers_set_a_stl.zipassets/effectors/library/gripper-2f-teleop/print/fingers_set_a_stl.zip	Print file	167.6 kB	MIT	as upstream
fingers_set_b_stl.zipassets/effectors/library/gripper-2f-teleop/print/fingers_set_b_stl.zip	Print file	389.0 kB	MIT	as upstream
gripper-2f-teleop.xmlassets/effectors/library/gripper-2f-teleop/sim/gripper-2f-teleop.xml	Simulation file (derived)	5.8 kB	BSD-3-Clause	modified
d405_solid.objassets/effectors/library/gripper-2f-teleop/sim/meshes/d405_solid.obj	Simulation file (derived)	536.9 kB	BSD-3-Clause	modified
vx300s_7_gripper_bar.objassets/effectors/library/gripper-2f-teleop/sim/meshes/vx300s_7_gripper_bar.obj	Simulation file (derived)	8.3 kB	BSD-3-Clause	modified
vx300s_7_gripper_prop.objassets/effectors/library/gripper-2f-teleop/sim/meshes/vx300s_7_gripper_prop.obj	Simulation file (derived)	6.6 kB	BSD-3-Clause	modified
vx300s_7_gripper_wrist_mount.objassets/effectors/library/gripper-2f-teleop/sim/meshes/vx300s_7_gripper_wrist_mount.obj	Simulation file (derived)	139.7 kB	BSD-3-Clause	modified
vx300s_8_custom_finger_left.objassets/effectors/library/gripper-2f-teleop/sim/meshes/vx300s_8_custom_finger_left.obj	Simulation file (derived)	23.7 kB	BSD-3-Clause	modified
vx300s_8_custom_finger_right.objassets/effectors/library/gripper-2f-teleop/sim/meshes/vx300s_8_custom_finger_right.obj	Simulation file (derived)	23.9 kB	BSD-3-Clause	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

Linked, not mirrored

What, and why	Size	Link
Assembly guide: linked to keep the repository small.	772.5 kB	Pinned file