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Shadow Hand E3M5 Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains assets of the "E3M5" version of the Shadow Hand robot, including both right-handed and left-handed versions. The original URDF and assets were provided directly by Shadow Robot Company under the Apache 2.0 License.

URDF → MJCF derivation steps

  1. Converted the DAE mesh files to OBJ format using Blender.
  2. Processed .obj files with obj2mjcf.
  3. Added <mujoco> <compiler discardvisual="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
  4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
  5. Removed _E3M5 suffix from mesh names.
  6. Added forearm body and its corresponding inertial specs.
  7. Removed 2 artifact boxes left from the URDF conversion.
  8. Manually edited the MJCF to extract common properties into the <default> section.
  9. Added <exclude> clauses to prevent collisions between the forearm and the wrist and thumb bodies.
  10. Added position-controlled actuators.
  11. Added impratio=10 for better noslip.
  12. Hardened the contacts on the hand geoms.
  13. Added scene_left.xml and scene_right.xml which include the robot, with an object, textured groundplane, skybox, and haze.

License

These models are released under an Apache-2.0 License.