`abb_yumi` _{parallel_2f}	`arx_x5` _{revolute_2f}	`barrett_hand` _{revolute_3f}	`bd_spot` _{revolute_2f}	`dh_ag95` _{parallel_2f}	`ezgripper` _{revolute_2f}	`fetch_robot` _{parallel_2f}	`franka_panda` _{parallel_2f}
`franka_umi` _{parallel_2f}	`galaxea_g1` _{revolute_2f}	`inspire_hand` _{revolute_3f}	`onrobot_RG2` _{revolute_2f}	`onrobot_RG6` _{revolute_2f}	`piper_hand` _{revolute_2f}	`robotiq_2f_140` _{revolute_2f}	`robotiq_2f_85` _{revolute_2f}
`robotiq_3f` _{revolute_3f}	`robotiq_hande` _{parallel_2f}	`sawyer_hand` _{parallel_2f}	`schunk_wsg50` _{parallel_2f}	`sharpa_wave` _{revolute_3f}	`surge_hand` _{revolute_3f}	`tesollo_delto2f` _{revolute_2f}	`unitree_g1` _{revolute_2f}
`wuji_hand` _{revolute_3f}	`xarm_hand` _{revolute_2f}

Installation

pip install -e .

Or directly from the repository:

pip install -e git+ssh://git@gitlab-master.nvidia.com:12051/rays2torques/graspgen/gripper_descriptions.git#egg=gripper_descriptions

If the git lfs clone failed, download the assets from: https://drive.google.com/file/d/1_GlOZjy5treLxb3Q30V3VdMlssOIWdy0/view?usp=sharing and put it under gripper_descriptions/assets/ .

Usage

import gripper_descriptions

# Get path to all gripper assets
assets_path = gripper_descriptions.get_assets_path()

# Get path to a specific gripper
gripper_path = gripper_descriptions.get_gripper_path("robotiq_2f_85")

# List all available grippers
print(gripper_descriptions.list_grippers())
print(gripper_descriptions.AVAILABLE_GRIPPERS)

With GraspGenX

Once installed, GraspGenX automatically discovers gripper assets from this package:

from graspgenx.x_grippers import get_gripper_info
import gripper_descriptions

gripper = get_gripper_info(gripper_descriptions.get_assets_path(), "robotiq_2f_85")

Visualization

# Visualize a single gripper
python -m gripper_descriptions.scripts.vis_gripper --gripper robotiq_2f_85

# Animate open/close
python -m gripper_descriptions.scripts.vis_gripper --gripper robotiq_2f_85 --animate

# Show all grippers in a grid
python -m gripper_descriptions.scripts.vis_all_grippers

# List available grippers
python -m gripper_descriptions.scripts.vis_gripper --list-grippers

Asset Structure

Each gripper directory contains:

File	Description
`gripper.urdf`	URDF with mesh paths relative to `meshes/`
`meshes/`	STL/OBJ mesh files referenced by the URDF
`config.json`	Joint configs (open/close), fingertip, sweep volume, type
`vis_mesh.obj`	Merged visual mesh (open configuration)
`coll_mesh.obj`	Merged collision mesh (open configuration)
`points.json`	Surface point clouds (open/close, 10500 pts each)
`selected_pts.json`	Inner-surface point clouds (open/mid/close)
`tsdf.npy`	Truncated signed distance fields
`proc_gripper_only_pointnet_vae_repr.json`	PointNet VAE embedding (64-D)

Downloads last month: 112

Total file size:

316 MB