This repository contains public description assets for Glitech dexterous hands. The package supports simulation, visualization, algorithm verification and robotics development. The release provides URDF, MJCF and USD robot models, along with corresponding mesh geometric files.
| System | Description | Formats |
|---|---|---|
ghand5_system |
Ghand 5 left and right dexterous hands | URDF, MJCF, USD |
ghand_lite1_system |
Ghand Lite 1 left and right dexterous hands | URDF, MJCF, USD |
| Preview | Description files | Hand | Configuration | Side |
|---|---|---|---|---|
 |
URDF: ghand5_system/urdf/ghand5_left.urdf MJCF: ghand5_system/mjcf/ghand5_left.mjcf USD: ghand5_system/usd/ghand5_left.usd |
GHand 5 | Single hand | Left |
 |
URDF: ghand5_system/urdf/ghand5_right.urdf MJCF: ghand5_system/mjcf/ghand5_right.mjcf USD: ghand5_system/usd/ghand5_right.usd |
GHand 5 | Single hand | Right |
URDF files can be loaded by common robotics tools such as ROS, RViz, Pinocchio, and other URDF-compatible parsers.
todo: add instructions