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Effector Lab

Effector library

Drawer-pull hook tool

A printed hook that a gripper holds to pull drawers, cabinet doors and fridge doors open, and push them shut.

Passive toolProxyEntrantApache-2.0

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Facts

Kind
Passive tool
Class
Open hardware (buildable)
Capabilities
  • hookengages a handle or lip and pulls
  • pushpresses a button or closes a lid with a flat or rounded tip
Mount
A mobile manipulator's compliant gripper (the tool is held or screwed on).ISO pattern: none (own interface)
  • The robot's own gripper is not part of this item (it is under a non-commercial licence).

Specifications

SpecValueBasisSource
Usepulls drawers, cabinet and fridge doors; pushes them shutSourcedSource

Simulation

Status
ProxyGenerated simulation proxy
Model source
Rigid proxy from the print file (CoACD).
Fidelity
Rigid model
Model
0 actuators · 1 g
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.

Drawer-pull hook tool

GATE PASSED
Primitive
hold
Actuators
0
Mass
1 g
Reach
5 mm
Opening
n/a
Training partGateHeld (nominal)Nominal outcomePenetrationWhy refused
BlockbuiltnoMissed grasp0.13 mm
Steel slugbuiltnoMissed grasp0.16 mm
Hex standoffbuiltnoMissed grasp0.16 mm
L-bracketbuiltnoMissed grasp0.14 mm
Pipe teebuiltnoMissed grasp0.13 mm
Flanged bushingbuiltnoMissed grasp0.18 mm

Held on no training part in the nominal episode.

Licence

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

Files

FileTypeSizeLicenceChanged
README.mdassets/effectors/library/tool-hook-drawer/doc/README.mdDocumentation1.4 kBApache-2.0as upstream
puller.stlassets/effectors/library/tool-hook-drawer/print/puller.stlPrint file131.2 kBApache-2.0as upstream
hook_0.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_0.objSimulation file (derived)7.0 kBApache-2.0modified
hook_1.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_1.objSimulation file (derived)1.9 kBApache-2.0modified
hook_10.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_10.objSimulation file (derived)3.5 kBApache-2.0modified
hook_11.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_11.objSimulation file (derived)2.7 kBApache-2.0modified
hook_12.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_12.objSimulation file (derived)7.7 kBApache-2.0modified
hook_13.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_13.objSimulation file (derived)2.6 kBApache-2.0modified
hook_14.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_14.objSimulation file (derived)3.5 kBApache-2.0modified
hook_15.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_15.objSimulation file (derived)2.6 kBApache-2.0modified
hook_2.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_2.objSimulation file (derived)13.3 kBApache-2.0modified
hook_3.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_3.objSimulation file (derived)7.4 kBApache-2.0modified
hook_4.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_4.objSimulation file (derived)12.1 kBApache-2.0modified
hook_5.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_5.objSimulation file (derived)2.2 kBApache-2.0modified
hook_6.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_6.objSimulation file (derived)12.2 kBApache-2.0modified
hook_7.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_7.objSimulation file (derived)7.1 kBApache-2.0modified
hook_8.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_8.objSimulation file (derived)3.3 kBApache-2.0modified
hook_9.objassets/effectors/library/tool-hook-drawer/sim/pieces/hook_9.objSimulation file (derived)13.5 kBApache-2.0modified
tool-hook-drawer.xmlassets/effectors/library/tool-hook-drawer/sim/tool-hook-drawer.xmlSimulation file (derived)1.9 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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