Inspire hand RH56DFTP-2L

Note: The MuJoCo XML files in this repository are customized versions created from URDF sources.

This project provides a MuJoCo simulation for the Inspire hand RH56DFTP-2L model.

Overview

• Includes Inspire Hand model files (URDF/XML/OBJ) and an example control script.
• Mesh files are organized into separate collision/ and visual/ folders.
• The example script applies PD control to finger joints and runs a looping trajectory.

Project Structure

• Inspire_hand/
  • urdf/: URDF source files
    • inspire_hand_right.urdf
  • xml/: MuJoCo XML files
    • scene.xml: Main simulation scene
    • inspire_hand_right.xml: Right-hand model definition
    • inspire_hand_left.xml: Left-hand model definition
  • collision/: Collision mesh OBJ files
  • visual/: Visual mesh OBJ files
  • xml/material.mtl: Material information
• example/
  • control_inspire_hand.py: MuJoCo viewer-based control example

URDF Source

• URDF origin/reference: https://github.com/dexsuite/dex-urdf/tree/main?tab=readme-ov-file

License & Attribution

• This repository includes customized MuJoCo XML files derived from external URDF assets.
• Source repository: https://github.com/dexsuite/dex-urdf
• For Inspire Hand assets, please follow the license noted in the source repository's Robot Source table (Inspire Hand: CC BY-NC-SA 4.0).
• Retain attribution to original authors/source when redistributing modified files.

Requirements

• Python 3.9+
• MuJoCo Python package
• NumPy

Installation

pip install mujoco numpy

Run

From the project root, run the example with:

python example/control_inspire_hand.py

When executed, the viewer opens and finger joints move repeatedly within their configured ranges.

Also, you can "Pause/Resume" the simulator using "Space bar"

Notes

• You can check the controlled joints in ACTUATED_JOINTS in control_inspire_hand.py.
• Control gains can be adjusted with KP_SINGLE_HAND and KD_SINGLE_HAND.

Author

• Euncheol Im - [email protected]