robot-models public assets
Public runtime assets for https://github.com/abcamiletto/robot-models.
Each model has one folder. Each folder contains its own LICENSE.md with upstream provenance.
The license in each folder applies to the assets in that folder.
| Folder | Model | Upstream license | Runtime asset |
|---|---|---|---|
ability/ |
PSYONIC Ability Hand | MIT | assets.zip |
allegro/ |
Wonik Robotics Allegro Hand | BSD-2-Clause | assets.zip |
barrett/ |
Barrett BH280 (Robotnik ROS description) | BSD-3-Clause | assets.zip |
brainco/ |
BrainCo Revo 2 hand | Apache-2.0 (see brainco/LICENSE.md) |
assets.zip |
ezgripper/ |
SAKE EZGripper (manufacturer-linked MuJoCo model) | Apache-2.0 | assets.zip |
g1/ |
Unitree G1 humanoid | BSD-3-Clause | assets.zip |
gr1/ |
Fourier GR1T2 humanoid | GPL-3.0 | assets.zip |
h1/ |
Unitree H1 humanoid | BSD-3-Clause | assets.zip |
inspire/ |
Inspire RH56 hand (Unitree description) | BSD-3-Clause | assets.zip |
leap/ |
LEAP Hand v1 | MIT | assets.zip |
robotiq-3finger/ |
Robotiq 3-Finger Adaptive Gripper (historical ROS description) | BSD-2-Clause | assets.zip |
shadow/ |
Shadow Dexterous Hand E3M5 | Apache-2.0 | assets.zip |
t1/ |
Booster Robotics T1 humanoid | Apache-2.0 | assets.zip |
talos/ |
PAL Robotics TALOS humanoid | Apache-2.0 | assets.zip |
Canonical hand descriptions
Each hand has one canonical bundle and uses the same robot-models hand/FK API. There are no research-baseline source variants in this collection.
The new bundles retain original source descriptions, meshes and full license
texts under source/, plus their runtime XML, provenance and SHA-256 hashes.
Conversion changes are recorded in each folder's LICENSE.md.
- Barrett BH280: Robotnik ROS description, BSD-3-Clause.
- Robotiq 3-Finger: historical ROS package authored by Robotiq, BSD-2-Clause.
- EZGripper: MuJoCo model originally by Vikash Kumar, maintained at the pinned revision by SAKE Robotics, linked by SAKE Robotics support, Apache-2.0.
These source descriptions are pinned and independently checked for kinematics and representative visual surfaces. Coordinate counts describe kinematics, rather than motor counts or a guarantee of simulation dynamics.
EZGripper runtime changes remove the scene floor/light, reset the mount transform, add a free root and rewrite mesh paths. Copyright comments and original STL meshes are retained. URDF conversion and coupling details are recorded per bundle.
Barrett and Robotiq retain their original URDF collision geometry alongside visual meshes. Collision geoms have zero density, preserving the placeholder runtime inertias inferred from visual mesh volume; original URDF inertials and contact coefficients remain under source/. EZGripper retains its native runtime dynamics, tendons, contacts and actuator.
Visual and collision geometry
All ten canonical hand families include visual and source-authored collision geometry. Menagerie/manufacturer/established ROS definitions are used; there are no separate hand variants. Native primitives remain analytic in MuJoCo, with tessellated mesh views available in the library.
- Barrett: all 10 original URDF collision elements (9 source meshes, 1 box).
- Robotiq 3-Finger: all 13 dedicated source collision meshes with their original origins.
- Shadow E3M5: all 38 Menagerie collision geoms on each side, restoring the previously omitted forearm collider while preserving all existing visual mesh bytes and joint conventions.
Shadow carries asset_version=2; Barrett and Robotiq carry asset_version=3 in source.json. These bundles retain complete upstream license texts and unmodified source files, and record provenance/hashes. All other bundles remain unchanged.
Barrett and Robotiq conversions exclude adjacent links from self-collision, plus Robotiq palm/proximal pairs whose source meshes overlap throughout the joint ranges. These rules are recorded in source.json. Object contacts and other self-collision pairs remain enabled. Native source collision meshes and primitives are unchanged.