This repository contains the description files for the Orcahand model. Currently, only the MJCF description is available. The 'extended' version contains additional bodies (incl. inertial properties) such as the camera mount, the U2D2 board and fans.
The URDF description will be added soon - for now, use converters such as mjcf_urdf_simple_converter or mjcf2urdf to convert the MJCF description to URDF.
- Clone the repository:
git clone git@github.com:orcahand/orcahand_description.git cd orcahand_description - Install the required dependencies:
pip install mujoco
- Simulate the orcahand in mujoco:
python3 -m mujoco.viewer --mjcf=scene.xml
Visual meshes currently contain a max of 1'000 faces (main tower & camera 50'000, rest of base 5'000), while collision meshes contain a max of 500 faces (base 2'500). The number of faces can be printed and reduced for each mesh using the mesh_utils.py script. For this, some extra dependencies are required:
pip install trimesh fast_simplification tabulate termcolorWe can also recommend the VSCode extension mtsmfm.vscode-stl-viewer for quickly visualizing STL meshes.
This project is licensed under the MIT License.
For questions or support, please contact the maintainers of this repo or the Orcahand team via our website (https://orcahand.com).