MJCF  ·  Sharpa  ·  Apache 2.0  ·  15 MB

Sharpa Wave

**Sharpa Wave** five-fingered tactile hand developed by Sharpa Robotics. The hand has 22 degrees of freedom across the thumb (5 DoF), index/middle/ring fingers (4 DoF each), and pinky (5 DoF), and integrates Sharpa's fingertip tactil

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Sharpa Wave — MJCF model

The first time takes a moment

Opening this model fetches it from the Menagerie repository — the description and the meshes it references, about 15 MB — and keeps it here, so anyone opening it after you gets it straight away. Nothing of yours is uploaded in the process: the simulation itself runs in your tab, on MuJoCo compiled to WebAssembly.

What you can do with it here

  • Simulate it under gravity and contact, write a controller in JavaScript, shove it with the mouse, and run the four repeatable tests that answer with a number rather than an impression.
  • Look inside it: the kinematic tree, every joint and its range, collision geometry against the visual mesh, where the mass actually sits.
  • Convert it to URDF for ROS, or to USD for Isaac Sim — each direction states what it could not carry across.
  • Download it as a folder — the description, the meshes under meshes/, the licence and a note saying where it came from. Mesh paths are rewritten to point inside the folder, so it opens outside a ROS workspace as well as inside one.
  • Download it as USD for Isaac Sim — one .usda with the meshes written inside it, as described on OpenUSD for robots.
  • Download it as a 3D model — one GLB with every part of the Sharpa Wave in place and named as its description names it, for Blender, a render or a web page; or as an STL in millimetres to print. Both are written in your browser, with the licence inside the GLB.
  • Author a movement for it and check the motors it declares can actually perform what you drew.
  • Edit it as URDF — change a joint range, a mass or a shape in a form or in the text, with its meshes brought along, and save the result as your own copy.

Whose model this is

The Sharpa Wave model is Apache 2.0 licensed and was published by Sharpa as part of the MuJoCo Menagerie, curated by Google DeepMind. This page is a way to open it, not a claim on it — the folder upstream carries the licence text, the changelog and the README its authors wrote:

https://github.com/google-deepmind/mujoco_menagerie/tree/main/sharpa_wave

If you use the model in your own work, credit that folder rather than this page. If it has changed upstream since we fetched it, the copy here is the one you get — say so in a bug report and it will be re-fetched.

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