Gripette URDF Model — Import into ARMOR for iPhone, iPad & Mac

Add to ARMOR

Choose a collision treatment:

Right 33 files · 36.7 MB The right-side end-effector — camera pair and IMU built into the mounting base. Left 33 files · 36.5 MB A mirrored left-side end-effector, identical mechanism.

33 files 36.7 MB download

Opens in the ARMOR app on iPhone, iPad, or Mac. Don’t have it yet? Get ARMOR.

Gripette is the robot-mounted counterpart to Grabette — Pollen Robotics’ open-source GRABETTE toolkit for recording and training on robotic manipulation demonstrations. Where Grabette is built into a hand-held grip for a human demonstrator, Gripette carries the identical finger mechanism on a mounting base meant to bolt onto a real robot arm as its end-effector.

The mechanism

A two-finger gripper (2 actuated degrees of freedom — one open/close joint per finger), with a stereo camera pair and an IMU built into the mounting base, driven by a Raspberry Pi Zero 2W over gRPC. Pollen Robotics’ own reference integration mounts it on an OpenArm 7-DOF arm for autonomous data collection and policy execution.

Choosing a variant

Both variants are the identical mechanism, mirrored:

Right — the right-side end-effector.
Left — the left-side end-effector.

About these files — read before importing

This links directly to pollen-robotics/grabette, Pollen Robotics’ own repository — specifically the packages/gripette/ component of their broader GRABETTE toolkit. ARMOR links directly to the repository rather than re-hosting anything, so what you get is exactly what Pollen Robotics publishes, unmodified.

License & attribution

Source code

Apache-2.0

Model & mesh files

Apache-2.0

Attribution

grabette (Pollen Robotics) — Apache-2.0 License, per the repository's own LICENSE file.

ARMOR does not host or redistribute this model. Choosing “Open in ARMOR” downloads the files directly from Pollen Robotics’s own repository, unmodified. Your use of the model is governed by the license above.

Read the full license →

ARMOR is an independent tool published by DCDC LLC. It is not affiliated with, sponsored by, or endorsed by Pollen Robotics. "Gripette" is used here only to identify the device this file describes. This model is downloaded directly from Pollen Robotics' own repository under the Apache License 2.0, which you accept by downloading.