manosim: Open-Source High-Precision MANO Hand Models for MuJoCo
andrew_n_carr · x · 2026-07-28
To address the lack of quality human hand models in robot simulation, a developer created manosim. The project converts MANO hand models into MJCF format for MuJoCo simulation, providing two representations:
- Mesh hand: Uses one convex-hull geom per bone, closely matching the MANO surface.
- Capsule hand: Uses one capsule per phalanx with a mesh palm. The creator recommends the capsule hand in practice for smoother contact normals and faster collision queries.
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