42 lines
1.7 KiB
Markdown
42 lines
1.7 KiB
Markdown
# Shadow Hand E3M5 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 assets of the "E3M5" version of the Shadow Hand robot,
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including both right-handed and left-handed versions.
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The original URDF and assets were provided directly by
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[Shadow Robot Company](https://www.shadowrobot.com/) under the
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[Apache 2.0 License](LICENSE).
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<p float="left">
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<img src="shadow_hand.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Converted the DAE [mesh
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files](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/)
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to OBJ format using [Blender](https://www.blender.org/).
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2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
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3. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the
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[URDF](https://github.com/shadow-robot/sr_common/blob/noetic-devel/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro)'s
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`<robot>` clause in order to preserve visual geometries.
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4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
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5. Removed `_E3M5` suffix from mesh names.
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6. Added forearm body and its corresponding inertial specs.
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7. Removed 2 artifact boxes left from the URDF conversion.
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8. Manually edited the MJCF to extract common properties into the `<default>` section.
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9. Added `<exclude>` clauses to prevent collisions between the forearm and the
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wrist and thumb bodies.
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10. Added position-controlled actuators.
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11. Added `impratio=10` for better noslip.
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12. Hardened the contacts on the hand geoms.
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13. 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 an [Apache-2.0 License](LICENSE).
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