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Merged
Vittorio-Caggiano merged 11 commits into from
May 11, 2026
Merged

v0.2.0 #2

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5f0dfbc
Add prototype assets for bionic hand for Myochallenge24
Balint-H Jul 11, 2024
fa45a92
Merge pull request #2 from Balint-H/myochallenge
Balint-H Jul 11, 2024
ea163e7
remove convexhull as it is no longer supported
Vittorio-Caggiano May 13, 2025
58dd1ab
Merge pull request #4 from Vittorio-Caggiano/mjc33x
vikashplus Jun 17, 2025
635e6aa
Add prototype assets for bionic hand for Myochallenge24
Balint-H Jul 11, 2024
0ba9cdd
remove convexhull as it is no longer supported
Vittorio-Caggiano May 13, 2025
b3a6a06
Merge branch 'myochallenge' of https://github.com/myohub/MPL_sim into…
Vittorio-Caggiano Apr 30, 2026
a39e99a
fix: MuJoCo 3.x compat — remove convexhull, fix include paths, fix MP…
Vittorio-Caggiano May 10, 2026
36ed643
Merge branch 'myochallenge' into fix/mujoco3-compat
Vittorio-Caggiano May 10, 2026
630a39d
Merge pull request #1 from MyoHub/fix/mujoco3-compat
Vittorio-Caggiano May 10, 2026
40f23ba
Bump version from 0.1.0 to 0.2.0
Vittorio-Caggiano May 11, 2026
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8 changes: 8 additions & 0 deletions .idea/.gitignore
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8 changes: 8 additions & 0 deletions .idea/MPL_sim.iml
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15 changes: 15 additions & 0 deletions .idea/inspectionProfiles/Project_Default.xml
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6 changes: 6 additions & 0 deletions .idea/inspectionProfiles/profiles_settings.xml
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4 changes: 4 additions & 0 deletions .idea/misc.xml
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8 changes: 8 additions & 0 deletions .idea/modules.xml
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6 changes: 6 additions & 0 deletions .idea/vcs.xml
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8 changes: 7 additions & 1 deletion assets/arms_assets.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<mujocoinclude>

<compiler angle="radian" meshdir="./../" texturedir='../scenes/' convexhull="false"/>
<compiler angle="radian" meshdir="./../" texturedir='../scenes/'/>
<size nconmax="1000" njmax="5000"/>
<option timestep="0.002"/>

Expand All @@ -12,6 +12,12 @@
<default class="MPL_arm_dark">
<geom rgba=".1 .13 .13 1"/>
</default>
<default class="MPL_hand">
<geom condim="6" contype="2" conaffinity="1" rgba=".9 .9 .9 1" type="mesh" material="matmetal"/>
<site type="sphere" size="0.005" group="0"/>
<joint damping="6" limited="true"/>
<position kp="10" ctrllimited="true"/>
</default>
</default>
</default>

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4 changes: 2 additions & 2 deletions assets/arms_chain.xml
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Expand Up @@ -34,7 +34,7 @@
<geom mesh="forearm_linkR" class="MPL_arm_dark"/>

<!-- RIGHT HAND -->
<include file="./../../MPL_sim/assets/simpleHandR_chain.xml"/>
<include file="simpleHandR_chain.xml"/>

</body>
</body>
Expand All @@ -60,7 +60,7 @@
<geom mesh="forearm_linkL" class="MPL_arm_dark"/>

<!-- LEFT HAND -->
<include file="./../../MPL_sim/assets/simpleHandL_chain.xml"/>
<include file="simpleHandL_chain.xml"/>

</body>
</body>
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162 changes: 162 additions & 0 deletions assets/handL_assets.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,162 @@
<!-- =========== Copyright | Vikash Kumar | vikashplus@gmail.com ==========================
Model :: MPL
Mujoco :: Advanced physics simulation engine
Source : www.roboti.us
Version : 2.00
Released : 1Oct"18
Author :: Vikash Kumar
Contacts : vikashplus@gmail.com
Last edits : 25Dec"19

Copyright 2018 Vikash Kumar: Licensed under Apache License, Version 2.0 (the "License")

You may not use this file except in compliance with the License. You may obtain a copy of
the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law
or agreed to in writing, software distributed under the License is distributed on an "AS IS"
BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License
for the specific language governing permissions and limitations under the License.
============================================================================================= -->

<mujocoinclude>
<compiler meshdir=".." texturedir='../scenes/'/>
<default>
<default class="MPL">
<geom condim="1" contype="2" conaffinity="1" type="mesh" rgba=".9 .9 2 1"/>
<joint limited="true" damping="0.2" armature=".01"/>
<site material="prosthesis/MatTouch" type="ellipsoid" group="3"/>
<position ctrllimited="true" kp="10"/>
</default>

<default class="IMU">

<site material="prosthesis/MatIMU" type="box" group="4"/>
</default>

<default class="free">
<joint type="free" damping="0" armature="0" limited="false"/>
</default>
</default>

<asset>
<mesh name="prosthesis/index0" file="../MPL_sim/meshes/mplL/index0_left.stl"/>
<mesh name="prosthesis/index1" file="../MPL_sim/meshes/mplL/index1_left.stl"/>
<mesh name="prosthesis/index2" file="../MPL_sim/meshes/mplL/index2_left.stl"/>
<mesh name="prosthesis/index3" file="../MPL_sim/meshes/mplL/index3_left.stl"/>
<mesh name="prosthesis/middle0" file="../MPL_sim/meshes/mplL/middle0_left.stl"/>
<mesh name="prosthesis/middle1" file="../MPL_sim/meshes/mplL/middle1_left.stl"/>
<mesh name="prosthesis/middle2" file="../MPL_sim/meshes/mplL/middle2_left.stl"/>
<mesh name="prosthesis/middle3" file="../MPL_sim/meshes/mplL/middle3_left.stl"/>
<mesh name="prosthesis/palm" file="../MPL_sim/meshes/mplL/palm_left.stl"/>
<mesh name="prosthesis/pinky0" file="../MPL_sim/meshes/mplL/pinky0_left.stl"/>
<mesh name="prosthesis/pinky1" file="../MPL_sim/meshes/mplL/pinky1_left.stl"/>
<mesh name="prosthesis/pinky2" file="../MPL_sim/meshes/mplL/pinky2_left.stl"/>
<mesh name="prosthesis/pinky3" file="../MPL_sim/meshes/mplL/pinky3_left.stl"/>
<mesh name="prosthesis/ring0" file="../MPL_sim/meshes/mplL/ring0_left.stl"/>
<mesh name="prosthesis/ring1" file="../MPL_sim/meshes/mplL/ring1_left.stl"/>
<mesh name="prosthesis/ring2" file="../MPL_sim/meshes/mplL/ring2_left.stl"/>
<mesh name="prosthesis/ring3" file="../MPL_sim/meshes/mplL/ring3_left.stl"/>
<mesh name="prosthesis/thumb0" file="../MPL_sim/meshes/mplL/thumb0_left.stl"/>
<mesh name="prosthesis/thumb1" file="../MPL_sim/meshes/mplL/thumb1_left.stl"/>
<mesh name="prosthesis/thumb2" file="../MPL_sim/meshes/mplL/thumb2_left.stl"/>
<mesh name="prosthesis/thumb3" file="../MPL_sim/meshes/mplL/thumb3_left.stl"/>
<mesh name="prosthesis/wristx" file="../MPL_sim/meshes/mplL/wristx_left.stl"/>
<mesh name="prosthesis/wristy" file="../MPL_sim/meshes/mplL/wristy_left.stl"/>
<mesh name="prosthesis/wristz" file="../MPL_sim/meshes/mplL/wristz_left.stl"/>
<material name="prosthesis/MatTouch" rgba=".3 .9 .3 .3"/>
<material name="prosthesis/MatIMU" rgba=".1 .1 .9 1"/>
<material name="prosthesis/MatMesh"/>
</asset>

<contact>
<exclude body1="prosthesis/wristz" body2="prosthesis/wristy"/>
<exclude body1="prosthesis/wristx" body2="prosthesis/thumb0"/>
<exclude body1="prosthesis/palm" body2="prosthesis/thumb1"/>
<exclude body1="prosthesis/palm" body2="prosthesis/index1"/>
<exclude body1="prosthesis/palm" body2="prosthesis/middle1"/>
<exclude body1="prosthesis/palm" body2="prosthesis/ring1"/>
<exclude body1="prosthesis/palm" body2="prosthesis/pinky1"/>
</contact>

<tendon>
<!--Index coupler tendons-->
<fixed name="prosthesis/T_index32_cpl" range="0 1" group="4">
<joint joint="prosthesis/index_DIP" coef="0.00705"/>
<joint joint="prosthesis/index_PIP" coef="-0.00805"/>
</fixed>
<fixed name="prosthesis/T_index21_cpl" range="0 1" group="4">
<joint joint="prosthesis/index_PIP" coef="0.010"/>
<joint joint="prosthesis/index_MCP" coef="-0.010"/>
</fixed>

<!--Middle coupler tendons-->
<fixed name="prosthesis/T_middle32_cpl" group="4">
<joint joint="prosthesis/middle_DIP" coef="0.00705"/>
<joint joint="prosthesis/middle_PIP" coef="-0.00805"/>
</fixed>
<fixed name="prosthesis/T_middle21_cpl" group="4">
<joint joint="prosthesis/middle_PIP" coef="0.010"/>
<joint joint="prosthesis/middle_MCP" coef="-0.010"/>
</fixed>

<!--Ring coupler tendons-->
<fixed name="prosthesis/T_ring32_cpl" group="4">
<joint joint="prosthesis/ring_DIP" coef="0.00705"/>
<joint joint="prosthesis/ring_PIP" coef="-0.00805"/>
</fixed>
<fixed name="prosthesis/T_ring21_cpl" group="4">
<joint joint="prosthesis/ring_PIP" coef="0.010"/>
<joint joint="prosthesis/ring_MCP" coef="-0.010"/>
</fixed>

<!--Little coupler tendons-->
<fixed name="prosthesis/T_pinky32_cpl" group="4">
<joint joint="prosthesis/pinky_DIP" coef="0.00705"/>
<joint joint="prosthesis/pinky_PIP" coef="-0.00805"/>
</fixed>
<fixed name="prosthesis/T_pinky21_cpl" group="4">
<joint joint="prosthesis/pinky_PIP" coef="0.010"/>
<joint joint="prosthesis/pinky_MCP" coef="-0.010"/>
</fixed>

</tendon>


<equality>
<!-- DIP-PIP-MCP Couplings -->
<tendon name="prosthesis/E_index32_cpl" tendon1="prosthesis/T_index32_cpl"/>
<tendon name="prosthesis/E_index21_cpl" tendon1="prosthesis/T_index21_cpl"/>
<tendon name="prosthesis/E_middle32_cpl" tendon1="prosthesis/T_middle32_cpl"/>
<tendon name="prosthesis/E_middle21_cpl" tendon1="prosthesis/T_middle21_cpl"/>
<tendon name="prosthesis/E_ring32_cpl" tendon1="prosthesis/T_ring32_cpl"/>
<tendon name="prosthesis/E_ring21_cpl" tendon1="prosthesis/T_ring21_cpl"/>
<tendon name="prosthesis/E_pinky32_cpl" tendon1="prosthesis/T_pinky32_cpl"/>
<tendon name="prosthesis/E_pinky21_cpl" tendon1="prosthesis/T_pinky21_cpl"/>

<!-- AD-AB Coupling -->
<joint name="prosthesis/ring_pinky_cpl" joint1="prosthesis/ring_ABD" joint2="prosthesis/pinky_ABD"
polycoef="0 0.5 0 0 0"/>
</equality>


<actuator>
<!-- Wrist -->
<position name="prosthesis/A_wrist_PRO" class="MPL" joint="prosthesis/wrist_PRO" ctrlrange="-1.57 1.57"/>
<position name="prosthesis/A_wrist_UDEV" class="MPL" joint="prosthesis/wrist_UDEV" ctrlrange="-0.26 0.79"/>
<position name="prosthesis/A_wrist_FLEX" class="MPL" joint="prosthesis/wrist_FLEX" ctrlrange="-1 1"/>

<!-- Thumb -->
<position name="prosthesis/A_thumb_ABD" class="MPL" joint="prosthesis/thumb_ABD" ctrlrange="0 2.1"/>
<position name="prosthesis/A_thumb_MCP" class="MPL" joint="prosthesis/thumb_MCP" ctrlrange="0 1.0"/>
<position name="prosthesis/A_thumb_PIP" class="MPL" joint="prosthesis/thumb_PIP" ctrlrange="0 1.0"/>
<position name="prosthesis/A_thumb_DIP" class="MPL" joint="prosthesis/thumb_DIP" ctrlrange="-0.82 1.3"/>

<!-- Fingers -->
<position name="prosthesis/A_index_ABD" class="MPL" joint="prosthesis/index_ABD" ctrlrange="0 0.34"/>
<position name="prosthesis/A_index_MCP" class="MPL" joint="prosthesis/index_MCP" ctrlrange="0 1.6"/>
<position name="prosthesis/A_middle_MCP" class="MPL" joint="prosthesis/middle_MCP" ctrlrange="0 1.6"/>
<position name="prosthesis/A_ring_MCP" class="MPL" joint="prosthesis/ring_MCP" ctrlrange="0 1.6"/>
<position name="prosthesis/A_pinky_ABD" class="MPL" joint="prosthesis/pinky_ABD" ctrlrange="0 0.34"/>
<position name="prosthesis/A_pinky_MCP" class="MPL" joint="prosthesis/pinky_MCP" ctrlrange="0 1.6"/>
</actuator>

</mujocoinclude>
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