2 Finger Robotiq Gripper modeling


Has anyone tried modeling the 2F robotiq gripper? As it is kind of versatile gripper it has many possible configurations. It seems very challenging. Any suggestions on this would be really helpful.


Not sure if there is something like it in eCat library that can be used as template. The node structure seems straightforward though, and the diameter of object could be used to select configuration.

Here are the specs if anyone is interested