Important
Requires MuJoCo 3.1.3 or later.
This package contains a simplified robot description (MJCF) of the (left and right) LEAP Hand developed by Carnegie Mellon University. It is derived from the publicly available URDF description.
- Added
<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false" balanceinertia="true"/> </mujoco>
to the URDF's<robot>
clause in order to preserve visual geometries. - Removed
package://
shortcuts in the URDF. - Loaded the URDF into MuJoCo and saved a corresponding MJCF.
- Manually edited the MJCF to extract common properties into the
<default>
section. - 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. - Added position controlled actuators.
- Added
impratio=10
andcone=elliptic
for better noslip. - 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
topalm_lower
. - Replaced
thumb_left_temp_base
mesh withpip
to match the right hand. - Reordered the joints of the thumb to match that of the right hand.
This model is released under an MIT License.
The LEAP Hand is described in the following publication:
@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}
}