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Table of Contents

[Last generated: Thu Jul 31 16:26:17 PDT 2025]

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
Both Hand Model

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

# Clone the repository
git clone <repository-url>
cd pro-models

# Install dependencies
pip install -r example/requirements.txt

Running the Example Viewer

# 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:

@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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