Table of Contents

[Last generated: Thu Jul 31 16:26:17 PDT 2025] - Table of Contents - Pro-Models: Professional Hand Simulation Models - Overview - Model Structure - Collision Representations - Convex Hull Representation - Capsule Hybrid Representation - Quick Start - Installation - Running the Example Viewer - Joint Configuration - Performance Considerations - Mesh Selection - Collision Detection - Contributing - License - ✅ Permitted Use: - ❌ Prohibited Use: - 🤝 Commercial Collaborations - Citation - Support - Related Projects

Pro-Models: Professional Hand Simulation Models

A comprehensive collection of high-fidelity robotic hand simulation models for MuJoCo, featuring ProHand V17 (left) and ProHand V18R (right) with multiple collision representations and optimized meshes.

| Both Hand Example Demo | |:-------------------------------------------------:| | |

Overview

This repository contains professional-grade robotic hand models designed for simulation and research applications:

• ProHand V17 (Left Hand): 5-finger anthropomorphic hand with 20+ degrees of freedom
• ProHand V18R (Right Hand): minor improvements
• (more versions rolling=out ...)

Both models feature: - Finger Configuration: 5 fingers (thumb, index, middle, ring, pinky) - Joint Structure: 20+ degrees of freedom per hand (including 2 DOF wrist) - Collision Models: Convex hull and capsule hybrid representations - Mesh Quality: Both convex and optimized mesh variants - Applications: Research, development, and simulation

Model Structure

assets/ ├── meshes/ │ ├── gen_1_7_L_description/ # ProHand V17 (Left) │ └── gen_1_8_R_description/ # ProHand V18R (Right) │ ├── convex/ # Convex hull meshes │ └── optimized/ # Optimized detailed meshes └── mjcf/ ├── gen_1_7_L_description/ # MJCF configuration files └── gen_1_8_R_description/ # MJCF configuration files ├── include_ProHand_V17_convex_chain.xml ├── include_ProHand_V17_convex_config.xml ├── include_ProHand_V17_capsule_hybrid_chain.xml ├── include_ProHand_V17_capsule_hybrid_config.xml ├── include_ProHand_V18R_convex_chain.xml ├── include_ProHand_V18R_convex_config.xml ├── include_ProHand_V18R_capsule_hybrid_chain.xml └── include_ProHand_V18R_capsule_hybrid_config.xml

Collision Representations

Each hand model provides two collision representation options:

Convex Hull Representation

• File Pattern: *_convex_*.xml
• Advantages: Fast collision detection, suitable for real-time simulation
• Use Cases: Control development, real-time applications

Capsule Hybrid Representation

• File Pattern: *_capsule_hybrid_*.xml
• Advantages: Faster and simpler collision detection, for contact-rich simulation
• Use Cases: Research, fast simulation, contact analysis

Quick Start

Installation

```bash

Clone the repository

git clone cd pro-models

Install dependencies

pip install -r example/requirements.txt ```

Running the Example Viewer

```bash

View left hand only

python example/hand_viewer.py left

View right hand only

python example/hand_viewer.py right

View both hands

python example/hand_viewer.py both ```

Joint Configuration

Both hands feature similar joint structures: - Wrist: 2 DOF (yaw, pitch) - Thumb: 4 DOF (metacarpal, proximal, distal, trapezium) - Fingers: 4 DOF each (metacarpal, proximal, middle, distal)

ProHand V18R includes enhanced thumb kinematics and improved joint limits.

Performance Considerations

Mesh Selection

• Convex Meshes: ~50% faster simulation, suitable for real-time applications
• Optimized Meshes: Better visual quality, recommended for research and analysis

Collision Detection

• Convex Hull: Fastest collision detection, good for control development
• Capsule Hybrid: More accurate contact modeling, better for research

Contributing

We welcome contributions to improve the models, add new features, or enhance documentation. Please:

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Submit a pull request

License

These models are made available under a custom non-commercial academic license.
Please read the full LICENSE.txt for legal terms.

✅ Permitted Use:

• Academic and non-commercial research
• Internal evaluation and benchmarking
• Simulation, visualization, and experimentation within a lab or educational context

❌ Prohibited Use:

• Any commercial application, including but not limited to:
  • Proprietary software or SDKs
  • Paid services or consulting
  • Commercial product development
• Redistribution, uploading to other repositories, or public forks without prior permission

🤝 Commercial Collaborations

We welcome research partnerships and commercial collaborations.
Please contact us to discuss licensing:

📧 [contact@proception.ai]

Citation

If you use these models in your research, please cite:

bibtex @misc{pro_models_2025, title={Pro-Models: Proception Inc. Simulation Models for MuJoCo}, author={Proception Inc., Jianxiang Xu, etc.}, year={2025}, url={https://github.com/Proception-AI/pro-models} }

Support

If you have questions, encounter issues, or would like to request a feature, feel free to open a GitHub issue.

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