Files

T

Baruch Tabanpour d258d5e152 Check all edge pairs in convex-convex.

PiperOrigin-RevId: 620004680
Change-Id: I5d75c0fd21ed3d3e420eed762cfc5a7e04896032

2024-03-28 11:33:46 -07:00

assets

Speed up convex-convex collisions.

2024-03-06 21:48:51 -08:00

README.md

Make benchmarks and viewer more accessible.

2024-01-24 17:04:02 -08:00

right_hand.xml

Check all edge pairs in convex-convex.

2024-03-28 11:33:46 -07:00

scene_right.xml

Make benchmarks and viewer more accessible.

2024-01-24 17:04:02 -08:00

shadow_hand.png

Make benchmarks and viewer more accessible.

2024-01-24 17:04:02 -08:00

README.md

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.