DexRobot MuJoCo

Tactile simulation for DexRobot hands in MuJoCo with ROS integration.

DexHand Model in MuJoCo

Key Features

• Tactile sensing simulation with MuJoCo native and TaShan 11-dimensional sensors

• Real-time physics stepping for synchronized visualization

• Collision model variants (full and simplified) for performance tuning

• ROS/ROS2 integration with standard message types

• VR visualization support

• Multi-format recording (ROS bags, CSV, MP4)

Documentation Contents

User Guide

• Getting Started
• Touch Sensors
• MuJoCo Control Wrapper
• Hand Models
  • URDF to MJCF Conversion
  • Collision Models
  • Components
  • Articulation
  • Hand Model Examples
• Scene Creation
  • Scene Composition
  • Scene Examples
• ROS Integration
  • Node Configuration
  • Topics and Services
• TaShan Sensor Setup with Python 3.8

API Reference

• API Reference
  • Core Classes
  • ROS Integration
  • Utility Functions

Indices and tables

• Index

• Module Index

• Search Page

Support

For issues, questions, or contributions:

• Check our GitHub Issues

• Submit pull requests via GitHub

License

Copyright 2024 DexRobot

Licensed under the Apache License, Version 2.0. See LICENSE file for details.