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2F / Hand-E

Software tools for 2F-85, 2F-140, and Hand-E adaptive parallel grippers.

2F-85 gripper2F-140 gripperHand-E gripper

Available drivers​

SDK​

ProductCC++Python
2F / Hand-E-Third partyThird party
  • C — Low-level C driver talking directly to the hardware's communication protocol (e.g. Modbus RTU, serial).
  • C++ — Low-level C++ driver/SDK for direct hardware integration.
  • Python — Python driver/SDK for scripting and rapid prototyping.

ROS​

ROS2​

ROS2HumbleIronJazzyRolling
2F / Hand-EThird partyThird party-Third party
  • Humble — ROS 2 LTS release (2022), supported until 2027.
  • Iron — ROS 2 release (2023), end of life.
  • Jazzy — ROS 2 LTS release (2024), supported until 2029.
  • Rolling — ROS 2 rolling development distro, always tracking the latest sources.

ROS1​

ROS1IndigoJadeKineticMelodic
2F / Hand-EThird partyThird partyThird partyThird party
  • Indigo — ROS 1 release (2014), end of life.
  • Jade — ROS 1 release (2015), end of life.
  • Kinetic — ROS 1 release (2016), end of life.
  • Melodic — ROS 1 release (2018), end of life.

Physics Engine​

ProductIsaac SimPyBullet
2F / Hand-EThird partyThird party
  • Isaac Sim — NVIDIA Isaac Sim integration for simulating the hardware.
  • PyBullet — PyBullet integration for physics-based simulation.

Other​

ProductGraspGen
2F / Hand-EThird party
  • GraspGen — NVIDIA GraspGen asset/model package with Robotiq gripper definitions for grasp synthesis research.