Add Leap Hand to Mujoco Menagerie.

PiperOrigin-RevId: 671791597 Change-Id: Iea68f2d01abda48ea49c73d427f33dff1b07e810
mohammad200h · Sep 6, 2024 · f59b989 · f59b989
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diff --git a/LICENSE b/LICENSE
@@ -1731,6 +1731,19 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
+================================================================================
+License for contents in the directory 'leap_hand/'
+================================================================================
+
+Copyright 2023 Ananye Agarwal
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+
 ================================================================================
 License for contents in the directory 'realsense_d435i/'
 ================================================================================

diff --git a/leap_hand/LICENSE b/leap_hand/LICENSE
@@ -0,0 +1,7 @@
+Copyright 2023 Ananye Agarwal
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/leap_hand/README.md b/leap_hand/README.md
@@ -0,0 +1,48 @@
+# Leap Hand Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.3 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the (left and right) [LEAP Hand](https://leaphand.com/) developed by Carnegie Mellon University. It is derived from the [publicly available URDF description](https://github.com/leap-hand/LEAP_Hand_Sim/blob/master/assets/leap_hand/robot.urdf).
+
+<p float="left">
+  <img src="leap_hand_left.png" width="400">
+  <img src="leap_hand_right.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Added `<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false" balanceinertia="true"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+2. Removed `package://` shortcuts in the URDF.
+3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+4. Manually edited the MJCF to extract common properties into the `<default>` section.
+5. Added `exclude` clause to prevent collisions between the palm and the base of each finger as well as the mcp and dip joint of each finger.
+6. Added position controlled actuators.
+7. Added `impratio=10` and `cone=elliptic` for better noslip.
+8. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+Extra steps taken for the left hand:
+
+- Renamed `palm_lower_left` to `palm_lower`.
+- Replaced `thumb_left_temp_base` mesh with `pip` to match the right hand.
+- Reordered the joints of the thumb to match that of the right hand.
+
+## License
+
+This model is released under an [MIT License](LICENSE).
+
+## Publications
+
+The LEAP Hand is described in the following publication:
+
+```bibtex
+@article{shaw2023leaphand,
+    title = {LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning},
+    author = {Shaw, Kenneth and Agarwal, Ananye and Pathak, Deepak},
+    journal = {Robotics: Science and Systems (RSS)},
+    year = {2023}
+}
+```
diff --git a/leap_hand/assets/dip.stl b/leap_hand/assets/dip.stl
diff --git a/leap_hand/assets/fingertip.stl b/leap_hand/assets/fingertip.stl
diff --git a/leap_hand/assets/mcp_joint.stl b/leap_hand/assets/mcp_joint.stl
diff --git a/leap_hand/assets/palm_lower.stl b/leap_hand/assets/palm_lower.stl
diff --git a/leap_hand/assets/palm_lower_left.stl b/leap_hand/assets/palm_lower_left.stl
diff --git a/leap_hand/assets/pip.stl b/leap_hand/assets/pip.stl
diff --git a/leap_hand/assets/thumb_dip.stl b/leap_hand/assets/thumb_dip.stl
diff --git a/leap_hand/assets/thumb_fingertip.stl b/leap_hand/assets/thumb_fingertip.stl
diff --git a/leap_hand/assets/thumb_pip.stl b/leap_hand/assets/thumb_pip.stl
diff --git a/leap_hand/leap_hand_left.png b/leap_hand/leap_hand_left.png
diff --git a/leap_hand/leap_hand_right.png b/leap_hand/leap_hand_right.png
diff --git a/leap_hand/left_hand.xml b/leap_hand/left_hand.xml
@@ -0,0 +1,184 @@
+<mujoco model="left leap hand">
+  <compiler angle="radian" autolimits="true" meshdir="assets"/>
+
+  <option integrator="implicitfast" cone="elliptic" impratio="10"/>
+
+  <default>
+    <default class="left_leap">
+      <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
+      <joint axis="0 0 -1" armature="0.01"/>
+      <position inheritrange="1" kp="20" dampratio="1"/>
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" density="0" material="black"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="mesh"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="black" rgba=".2 .2 .2 1"/>
+
+    <mesh name="palm_lower" file="palm_lower_left.stl"/>
+    <mesh file="mcp_joint.stl"/>
+    <mesh file="pip.stl"/>
+    <mesh file="dip.stl"/>
+    <mesh file="fingertip.stl"/>
+    <mesh file="thumb_pip.stl"/>
+    <mesh file="thumb_dip.stl"/>
+    <mesh file="thumb_fingertip.stl"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 2"/>
+    <body name="palm_lower" childclass="left_leap" pos="0 0 .1" quat="0 1 0 0">
+      <inertial pos="0 0 0" quat="0.704257 -0.0014136 0.00678547 0.709911" mass="0.235"
+        diaginertia="0.000523252 0.000351001 0.000256955"/>
+      <geom pos="-0.0955742 -0.11704 0.0207796" quat="0 0 1 1" mesh="palm_lower" class="visual"/>
+      <geom pos="-0.0955742 -0.11704 0.0207796" quat="0 0 1 1" mesh="palm_lower" class="collision"/>
+      <body name="mcp_joint" pos="-0.0825742 -0.08574 0.00780089" quat="1 1 1 -1">
+        <inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
+          diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
+        <joint name="1" range="-0.314 2.23" actuatorfrcrange="-0.95 0.95"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="visual"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
+        <body name="pip" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
+          <inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
+            diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
+          <joint name="0" range="-1.047 1.047" actuatorfrcrange="-0.95 0.95"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="visual"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
+          <body name="dip" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
+            <inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
+              diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
+            <joint name="2" range="-0.506 1.885" actuatorfrcrange="-0.95 0.95"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="visual"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
+            <body name="fingertip" pos="-4.08806e-09 -0.0361 0.0002">
+              <inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
+                diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
+              <joint name="3" range="-0.366 2.042" actuatorfrcrange="-0.95 0.95"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="visual"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="mcp_joint_2" pos="-0.0825742 -0.04029 0.00780089" quat="1 1 1 -1">
+        <inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
+          diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
+        <joint name="5" range="-0.314 2.23" actuatorfrcrange="-0.95 0.95"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="visual"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
+        <body name="pip_2" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
+          <inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
+            diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
+          <joint name="4" range="-1.047 1.047" actuatorfrcrange="-0.95 0.95"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="visual"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
+          <body name="dip_2" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
+            <inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
+              diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
+            <joint name="6" range="-0.506 1.885" actuatorfrcrange="-0.95 0.95"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="visual"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
+            <body name="fingertip_2" pos="0 -0.0361 0.0002">
+              <inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
+                diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
+              <joint name="7" range="-0.366 2.042" actuatorfrcrange="-0.95 0.95"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="visual"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="mcp_joint_3" pos="-0.0825742 0.00515999 0.00780089" quat="1 1 1 -1">
+        <inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
+          diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
+        <joint name="9" range="-0.314 2.23" actuatorfrcrange="-0.95 0.95"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="visual"/>
+        <geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
+        <body name="pip_3" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
+          <inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
+            diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
+          <joint name="8" range="-1.047 1.047" actuatorfrcrange="-0.95 0.95"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="visual"/>
+          <geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
+          <body name="dip_3" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
+            <inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
+              diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
+            <joint name="10" range="-0.506 1.885" actuatorfrcrange="-0.95 0.95"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="visual"/>
+            <geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
+            <body name="fingertip_3" pos="0 -0.0361 0.0002">
+              <inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
+                diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
+              <joint name="11" range="-0.366 2.042" actuatorfrcrange="-0.95 0.95"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="visual"/>
+              <geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="pip_4" pos="-0.144874 -0.09004 0.00490089" quat="1 0 1 0">
+        <inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
+          diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
+        <joint name="12" range="-2.094 0.349" actuatorfrcrange="-0.95 0.95"/>
+        <geom pos="-0.00535664 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="visual"/>
+        <geom pos="-0.00535664 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
+        <body name="thumb_pip" pos="0 -0.0141 -0.013" quat="1 -1 -1 -1">
+          <inertial pos="0 0 0" mass="0.003" diaginertia="5.93e-07 5.49e-07 2.24e-07"/>
+          <joint name="13" range="-2.443 0.47" actuatorfrcrange="-0.95 0.95"/>
+          <geom pos="0.0119619 0 -0.0158526" quat="1 1 0 0" mesh="thumb_pip" class="visual"/>
+          <geom pos="0.0119619 0 -0.0158526" quat="1 1 0 0" mesh="thumb_pip" class="collision"/>
+          <body name="thumb_dip" pos="0 0.0145 -0.017" quat="1 -1 0 0">
+            <inertial pos="0 0 0" quat="0.708624 0.704906 0.00637342 0.0303153" mass="0.038"
+              diaginertia="8.48742e-06 7.67823e-06 3.82835e-06"/>
+            <joint name="14" range="-1.2 1.9" actuatorfrcrange="-0.95 0.95"/>
+            <geom pos="0.0439687 0.057953 -0.00862868" quat="1 0 0 0" mesh="thumb_dip" class="visual"/>
+            <geom pos="0.0439687 0.057953 -0.00862868" quat="1 0 0 0" mesh="thumb_dip" class="collision"/>
+            <body name="thumb_fingertip" pos="0 0.0466 0.0002" quat="0 0 0 -1">
+              <inertial pos="0 0 0" quat="0.704307 0.709299 0.006848 -0.0282727" mass="0.049"
+                diaginertia="2.03882e-05 1.98443e-05 4.32049e-06"/>
+              <joint name="15" range="-1.34 1.88" actuatorfrcrange="-0.95 0.95"/>
+              <geom pos="0.0625595 0.0784597 0.0489929" quat="1 0 0 0" mesh="thumb_fingertip" class="visual"/>
+              <geom pos="0.0625595 0.0784597 0.0489929" quat="1 0 0 0" mesh="thumb_fingertip" class="collision"/>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="palm_lower" body2="mcp_joint"/>
+    <exclude body1="palm_lower" body2="mcp_joint_2"/>
+    <exclude body1="palm_lower" body2="mcp_joint_3"/>
+    <exclude body1="palm_lower" body2="thumb_dip"/>
+    <exclude body1="palm_lower" body2="thumb_pip"/>
+    <exclude body1="palm_lower" body2="pip_4"/>
+    <exclude body1="mcp_joint" body2="dip"/>
+    <exclude body1="mcp_joint_3" body2="dip_3"/>
+    <exclude body1="mcp_joint_2" body2="dip_2"/>
+  </contact>
+
+  <actuator>
+    <position class="left_leap" name="1" joint="1"/>
+    <position class="left_leap" name="0" joint="0"/>
+    <position class="left_leap" name="2" joint="2"/>
+    <position class="left_leap" name="3" joint="3"/>
+    <position class="left_leap" name="5" joint="5"/>
+    <position class="left_leap" name="4" joint="4"/>
+    <position class="left_leap" name="6" joint="6"/>
+    <position class="left_leap" name="7" joint="7"/>
+    <position class="left_leap" name="9" joint="9"/>
+    <position class="left_leap" name="8" joint="8"/>
+    <position class="left_leap" name="10" joint="10"/>
+    <position class="left_leap" name="11" joint="11"/>
+    <position class="left_leap" name="12" joint="12"/>
+    <position class="left_leap" name="13" joint="13"/>
+    <position class="left_leap" name="14" joint="14"/>
+    <position class="left_leap" name="15" joint="15"/>
+  </actuator>
+</mujoco>