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Effector Lab

Effector library

Three-finger 12-joint industrial hand

A three-finger dexterous hand built for industrial handling: four joints per finger on a shared base.

Three-finger handNativeEntrantApache-2.0

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Facts

Kind
Three-finger hand
Class
Simulation model of a product (generic name)
Capabilities
  • pinchholds a part between two opposed tips or pads
  • powerwraps several fingers around a part
Mount
The maker's own base plate.ISO pattern: none (own interface)

Specifications

SpecValueBasisSource
Joints12 (4 per finger)Derivedderived from the files or the model

Simulation

Status
NativeNative simulation model
Model source
Upstream MJCF (PID plugin actuators).
Fidelity
Rigid model
Model
12 actuators · 4139 g
Note
Its 12 actuators are PID plugin actuators of the simulator.
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.

Three-finger 12-joint industrial hand

GATE PASSED
Primitive
power
Actuators
12
Mass
4140 g
Reach
353.2 mm
Opening
n/a
Training partGateHeld (nominal)Nominal outcomePenetrationWhy refused
BlockbuiltnoPushed away on close0.41 mm
Steel slugbuiltnoPushed away on close0.40 mm
Hex standoffbuiltnoPushed away on close0.20 mm
L-bracketbuiltnoPushed away on close0.22 mm
Pipe teebuiltnoPushed away on close0.19 mm
Flanged bushingbuiltnoPushed away on close0.20 mm

Held on no training part in the nominal episode.

Licence

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

Files

FileTypeSizeLicenceChanged
hand-3f-12dof-industrial.xmlassets/effectors/library/hand-3f-12dof-industrial/sim/hand-3f-12dof-industrial.xmlSimulation file (derived)16.4 kBApache-2.0modified
r3_config1_base_col.objassets/effectors/library/hand-3f-12dof-industrial/sim/meshes/r3_config1_base_col.objSimulation file (derived)56.9 kBApache-2.0modified
r3_config1_base_puck_col.objassets/effectors/library/hand-3f-12dof-industrial/sim/meshes/r3_config1_base_puck_col.objSimulation file (derived)71.3 kBApache-2.0modified
r3_finger_base_col.objassets/effectors/library/hand-3f-12dof-industrial/sim/meshes/r3_finger_base_col.objSimulation file (derived)6.0 kBApache-2.0modified
r3_finger_distal_col.objassets/effectors/library/hand-3f-12dof-industrial/sim/meshes/r3_finger_distal_col.objSimulation file (derived)54.9 kBApache-2.0modified
r3_finger_distal_tip_col.objassets/effectors/library/hand-3f-12dof-industrial/sim/meshes/r3_finger_distal_tip_col.objSimulation file (derived)57.4 kBApache-2.0modified
r3_finger_knuckle_col.objassets/effectors/library/hand-3f-12dof-industrial/sim/meshes/r3_finger_knuckle_col.objSimulation file (derived)42.4 kBApache-2.0modified
r3_finger_middle_col.objassets/effectors/library/hand-3f-12dof-industrial/sim/meshes/r3_finger_middle_col.objSimulation file (derived)133.8 kBApache-2.0modified
r3_finger_proximal_col.objassets/effectors/library/hand-3f-12dof-industrial/sim/meshes/r3_finger_proximal_col.objSimulation file (derived)28.6 kBApache-2.0modified

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

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