Mujoco_WASM/mjx/mujoco/mjx/test_data/shadow_hand

Shadow Hand E3M5 Description (MJCF)

Requires MuJoCo 3.0.0 or later.

Overview

This package contains assets of the "E3M5" version of the Shadow Hand robot, including both right-handed and left-handed versions. The original URDF and assets were provided directly by Shadow Robot Company under the Apache 2.0 License.

The original Menagerie Shadow Hand has been modified for MJX simulation in the following ways:

• Solver switched to CG with 8 iterations
• Condim switched to 3 (MJX does not yet support condim != 3)
• Object converted from ellipsoid to sphere (MJX does not yet support ellipsoids)
• Explicit contact pairs for fingers and object
• Removed some unused geoms in the arm base

License

These models are released under an Apache-2.0 License.