orcahand/orcahand_description

What it solves

This repository provides the digital descriptions of the Orcahand robotic hand, allowing developers to integrate the physical hardware into simulation environments and robotics software. It eliminates the need for users to manually recreate the model's geometry and physics properties in software.

How it works

The project provides model layout files in URDF (Unified Robot Description Format) and MJCF (MuJoCo XML) formats. It includes two versions (v1 and v2) of the hand description, with v2 being an updated export from Fusion360. An "extended" version is also available, which includes additional components like camera mounts, fans, and the U2D2 board. Users can visualize and simulate the hand using the MuJoCo viewer.

Who it’s for

Robotics engineers and researchers who are using the Orcahand hardware and need accurate 3D models for simulation, kinematics, and control development.

Highlights

• Dual Format Support: Provides both URDF and MJCF files for compatibility with various robotics simulators.
• Versioned Layouts: Offers legacy (v1) and updated (v2) model descriptions.
• Detailed Componentry: The extended version includes inertial properties for peripheral hardware like camera mounts and fans.
• Mesh Optimization: Includes a utility script (mesh_utils.py) to reduce or mirror meshes to improve simulation performance.