Orcahand Description

This repository contains the description files for the Orcahand model (Both URDF and MJCF). The 'extended' version contains additional bodies (incl. inertial properties) such as the camera mount, the U2D2 board and fans.

Example Usage: Visualize MJCF

1. Clone the repository:

   git clone [email protected]:orcahand/orcahand_description.git
   cd orcahand_description

2. Install the required dependencies:

   pip install mujoco

3. Simulate the orcahand in mujoco:

   python3 -m mujoco.viewer --mjcf=scene_combined.xml

Example Usage: Visualize URDF in RViz

1. Clone the repository to your ROS2 workspace

   cd ~/ros2_ws/src
   git clone [email protected]:orcahand/orcahand_description.git

2. Build the workspace and source it

   cd ~/ros2_ws
   colcon build --symlink-install
   source ~/ros2_ws/install/setup.bash

3. Launch the sample script

   ros2 launch orcahand_description orcahand_xacro.launch.py chirality:=right

   Rviz2 opens and you can modify the joint angles with the slider.

Note on Meshes

Visual meshes contain the following amount of faces:

• Main tower, camera & fans: 15'000
• Rest of base: 2'000
• Skin: 5'000
• Rest: 500

Collision meshes contain the following amount of faces:

• Main tower, camera & fans: 7500
• Rest of base: 1000
• Skin: 500
• Rest: 250

You can further reduce or mirror meshes using the utils/mesh_utils.py script. With the same script, you can also print their number of faces. Some extra dependencies are required:

cd utils
pip install -r utils_requirements.txt

We can also recommend the VSCode extension mtsmfm.vscode-stl-viewer for quickly visualizing STL meshes.

License

This project is licensed under the MIT License.

Contact

For questions or support, please contact the maintainers of this repo or the Orcahand team via our website (https://orcahand.com).