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Add LEAP hand.
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kevinzakka committed Aug 28, 2024
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1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -207,6 +207,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
| Name | Maker | DoFs | License | MJX |
|------|-------|---------|---------|-----|
| Allegro Hand V3 | Wonik Robotics | 16 | [BSD-2-Clause](wonik_allegro/LICENSE) |✖️|
| LEAP Hand | Carnegie Mellon University | 16 | [MIT](leap_hand/LICENSE) |✖️|
| Robotiq 2F-85 | Robotiq | 8 | [BSD-2-Clause](robotiq_2f85/LICENSE) |✖️|
| Shadow Hand EM35 | Shadow Robot Company | 24 | [Apache-2.0](shadow_hand/LICENSE) |✖️|
| Shadow DEX-EE Hand | Shadow Robot Company | 12 | [Apache-2.0](shadow_dexee/LICENSE) |✖️|
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7 changes: 7 additions & 0 deletions leap_hand/LICENSE
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Copyright 2023 Ananye Agarwal

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
27 changes: 27 additions & 0 deletions leap_hand/README.md
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# Leap Hand Description (MJCF)

> [!IMPORTANT]
> Requires MuJoCo 3.1.3 or later.
## Overview

This package contains a simplified robot description (MJCF) of the [LEAP Hand](https://leaphand.com/) developed by Carnegie Mellon University. It is derived from the [publicly available URDF description](https://github.com/leap-hand/LEAP_Hand_Sim/blob/master/assets/leap_hand/robot.urdf).

<p float="left">
<img src="leap_hand.png" width="400">
</p>

## URDF → MJCF derivation steps

1. Added `<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false" balanceinertia="true"/> </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. Manually edited the MJCF to extract common properties into the `<default>` section.
4. Added `exclude` clause to prevent collisions between the palm and the base of each finger as well as the mcp and dip joint of each finger.
10. Added position controlled actuators.
11. Added `impratio=10` and `cone=elliptic` for better noslip.
12. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.

## License

This model is released under an [MIT License](LICENSE).
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183 changes: 183 additions & 0 deletions leap_hand/leap_hand.xml
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<mujoco model="leap hand">
<compiler angle="radian" autolimits="true" meshdir="assets"/>

<option integrator="implicitfast" cone="elliptic" impratio="10"/>

<default>
<default class="leap">
<site rgba="1 0 0 1" size="0.01" group="5"/>
<joint axis="0 0 -1" armature="0.01"/>
<position inheritrange="1" kp="20" dampratio="1"/>
<default class="visual">
<geom group="2" type="mesh" contype="0" conaffinity="0" density="0" material="black"/>
</default>
<default class="collision">
<geom group="3" type="mesh"/>
</default>
</default>
</default>

<asset>
<material name="black" rgba=".2 .2 .2 1"/>

<mesh name="palm_lower" file="palm_lower.stl"/>
<mesh name="mcp_joint" file="mcp_joint.stl"/>
<mesh name="pip" file="pip.stl"/>
<mesh name="dip" file="dip.stl"/>
<mesh name="fingertip" file="fingertip.stl"/>
<mesh name="thumb_pip" file="thumb_pip.stl"/>
<mesh name="thumb_dip" file="thumb_dip.stl"/>
<mesh name="thumb_fingertip" file="thumb_fingertip.stl"/>
</asset>

<worldbody>
<body name="palm_lower" childclass="leap" pos="0 0 .1" euler="3.14 0 0">
<inertial pos="0 0 0" quat="0.497095 0.495942 -0.509424 0.497419" mass="0.237"
diaginertia="0.000529322 0.000354076 0.000260868"/>
<geom pos="-0.0200952 0.0257578 -0.0347224" quat="1 0 0 0" mesh="palm_lower" class="visual"/>
<geom pos="-0.0200952 0.0257578 -0.0347224" quat="1 0 0 0" mesh="palm_lower" class="collision"/>
<body name="mcp_joint" pos="-0.00709525 0.0230578 -0.0187224" quat="1 1 1 -1">
<inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
<joint name="1" range="-0.314 2.23" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="visual"/>
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
<body name="pip" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
<inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
<joint name="0" range="-1.047 1.047" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="visual"/>
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
<body name="dip" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
<inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
<joint name="2" range="-0.506 1.885" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="visual"/>
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
<body name="fingertip" pos="-4.08806e-09 -0.0361 0.0002">
<inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
<joint name="3" range="-0.366 2.042" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="visual"/>
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
</body>
</body>
</body>
</body>
<body name="mcp_joint_2" pos="-0.00709525 -0.0223922 -0.0187224" quat="1 1 1 -1">
<inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
<joint name="5" range="-0.314 2.23" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="visual"/>
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
<body name="pip_2" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
<inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
<joint name="4" range="-1.047 1.047" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="visual"/>
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
<body name="dip_2" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
<inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
<joint name="6" range="-0.506 1.885" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="visual"/>
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
<body name="fingertip_2" pos="0 -0.0361 0.0002">
<inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
<joint name="7" range="-0.366 2.042" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="visual"/>
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
</body>
</body>
</body>
</body>
<body name="mcp_joint_3" pos="-0.00709525 -0.0678422 -0.0187224" quat="1 1 1 -1">
<inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
<joint name="9" range="-0.314 2.23" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="visual"/>
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
<body name="pip_3" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
<inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
<joint name="8" range="-1.047 1.047" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="visual"/>
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
<body name="dip_3" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
<inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
<joint name="10" range="-0.506 1.885" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="visual"/>
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
<body name="fingertip_3" pos="0 -0.0361 0.0002">
<inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
<joint name="11" range="-0.366 2.042" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="visual"/>
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
</body>
</body>
</body>
</body>
<body name="pip_4" pos="-0.0693952 -0.00124224 -0.0216224" quat="1 0 1 0">
<inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
<joint name="12" range="-0.349 2.094" actuatorfrcrange="-0.95 0.95"/>
<geom pos="-0.00535664 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="visual"/>
<geom pos="-0.00535664 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
<body name="thumb_pip" pos="0 0.0143 -0.013" quat="1 1 -1 1">
<inertial pos="0 0 0" mass="0.003" diaginertia="5.93e-07 5.49e-07 2.24e-07"/>
<joint name="13" range="-0.47 2.443" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0119619 0 -0.0158526" quat="1 1 0 0" mesh="thumb_pip" class="visual"/>
<geom pos="0.0119619 0 -0.0158526" quat="1 1 0 0" mesh="thumb_pip" class="collision"/>
<body name="thumb_dip" pos="0 0.0145 -0.017" quat="1 -1 0 0">
<inertial pos="0 0 0" quat="0.708624 0.704906 0.00637342 0.0303153" mass="0.038"
diaginertia="8.48742e-06 7.67823e-06 3.82835e-06"/>
<joint name="14" range="-1.2 1.9" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0439687 0.057953 -0.00862868" quat="1 0 0 0" mesh="thumb_dip" class="visual"/>
<geom pos="0.0439687 0.057953 -0.00862868" quat="1 0 0 0" mesh="thumb_dip" class="collision"/>
<body name="thumb_fingertip" pos="0 0.0466 0.0002" quat="0 0 0 1">
<inertial pos="0 0 0" quat="0.704307 0.709299 0.006848 -0.0282727" mass="0.049"
diaginertia="2.03882e-05 1.98443e-05 4.32049e-06"/>
<joint name="15" range="-1.34 1.88" actuatorfrcrange="-0.95 0.95"/>
<geom pos="0.0625595 0.0784597 0.0489929" quat="1 0 0 0" mesh="thumb_fingertip" class="visual"/>
<geom pos="0.0625595 0.0784597 0.0489929" quat="1 0 0 0" mesh="thumb_fingertip" class="collision"/>
</body>
</body>
</body>
</body>
</body>
</worldbody>

<contact>
<exclude body1="palm_lower" body2="mcp_joint"/>
<exclude body1="palm_lower" body2="mcp_joint_2"/>
<exclude body1="palm_lower" body2="mcp_joint_3"/>
<exclude body1="palm_lower" body2="thumb_dip"/>
<exclude body1="palm_lower" body2="thumb_pip"/>
<exclude body1="palm_lower" body2="pip_4"/>
<exclude body1="mcp_joint" body2="dip"/>
<exclude body1="mcp_joint_3" body2="dip_3"/>
<exclude body1="mcp_joint_2" body2="dip_2"/>
</contact>

<actuator>
<position class="leap" name="1" joint="1"/>
<position class="leap" name="0" joint="0"/>
<position class="leap" name="2" joint="2"/>
<position class="leap" name="3" joint="3"/>
<position class="leap" name="5" joint="5"/>
<position class="leap" name="4" joint="4"/>
<position class="leap" name="6" joint="6"/>
<position class="leap" name="7" joint="7"/>
<position class="leap" name="9" joint="9"/>
<position class="leap" name="8" joint="8"/>
<position class="leap" name="10" joint="10"/>
<position class="leap" name="11" joint="11"/>
<position class="leap" name="12" joint="12"/>
<position class="leap" name="13" joint="13"/>
<position class="leap" name="14" joint="14"/>
<position class="leap" name="15" joint="15"/>
</actuator>
</mujoco>
23 changes: 23 additions & 0 deletions leap_hand/scene.xml
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<mujoco model="leap hand scene">
<include file="leap_hand.xml"/>

<statistic center="0 0 0.1" extent=".3"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="60" elevation="-40"/>
</visual>

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>

<worldbody>
<light pos="0 0 1" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>
</mujoco>

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