34 lines
1.4 KiB
Markdown
34 lines
1.4 KiB
Markdown
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# Allegro Hand V3 Description (MJCF)
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Requires MuJoCo 2.2.2 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the [Allegro Hand
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v3](https://www.wonikrobotics.com/research-robot-hand) robot developed by [Wonik
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Robotics](https://www.wonikrobotics.com/), including both right-handed and
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left-handed versions. They are derived from the [publicly available URDF
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descriptions](https://github.com/simlabrobotics/allegro_hand_ros/blob/master/allegro_hand_description/).
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<p float="left">
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<img src="allegro_hand.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the
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[URDF](https://github.com/simlabrobotics/allegro_hand_ros/blob/master/allegro_hand_description/allegro_hand_description_right.urdf)'s
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`<robot>` clause in order to preserve visual geometries.
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2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
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3. Added base body.
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4. Manually edited the MJCF to extract common properties into the `<default>` section.
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5. Added `<exclude>` clauses to prevent collisions between the palm and fingers.
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6. Added position-controlled actuators.
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7. Scaled the global density to be `1000 * actual_mass / current_mass`.
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8. Added `scene_left.xml` and `scene_right.xml` which include the robot, with
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an object, textured groundplane, skybox, and haze.
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## License
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These models are released under a [BSD-2-Clause License](LICENSE).
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