Allegro Hand V3 Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the Allegro Hand v3 robot developed by Wonik Robotics, including both right-handed and left-handed versions. They are derived from the publicly available URDF descriptions.

URDF → MJCF derivation steps

1. Added <mujoco> <compiler discardvisual="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
3. Added base body.
4. Manually edited the MJCF to extract common properties into the <default> section.
5. Added <exclude> clauses to prevent collisions between the palm and fingers.
6. Added position-controlled actuators.
7. Scaled the global density to be 1000 * actual_mass / current_mass.
8. 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 a BSD-2-Clause License.