Orcahand Description

This repository contains the description files for the Orcahand model (both URDF and MJCF).

Versioned model layouts live under:

• v1/: legacy hand description files, including the extended variants
• v2/: updated hand description files from the newer Fusion360 export

The extended version contains additional bodies (incl. inertial properties) such as the camera mount, the U2D2 board and fans.

Example Usage

1. Clone the repository:

   git clone git@github.com:orcahand/orcahand_description.git
   cd orcahand_description
   

2. Install the required visualization dependencies:

   pip install mujoco
   

3. Simulate any version using MuJoCo:

   python -m mujoco.viewer --mjcf=$(pwd)/v1/scene_combined.xml
   python -m mujoco.viewer --mjcf=$(pwd)/v2/scene_combined.xml
   

Note on Meshes

Visual meshes contain the following amount of faces:

• Main tower, camera & fans: 15'000
• Rest of base: 2'000
• Skin: 5'000
• Rest: 500

Collision meshes contain the following amount of faces:

• Main tower, camera & fans: 7500
• Rest of base: 1000
• Skin: 500
• Rest: 250

You can further reduce or mirror meshes using the utils/mesh_utils.py script. With the same script, you can also print their number of faces. Some extra dependencies are required:

cd utils
pip install -r utils_requirements.txt

We can also recommend the VSCode extension mtsmfm.vscode-stl-viewer for quickly visualizing STL meshes.

License

This project is licensed under the MIT License.

Contact

For questions or support, please contact the maintainers of this repo or the Orcahand team via our website (https://orcahand.com).