Choose a hand model for your first simulation
Start with a model you can inspect, then record what it does—and what it leaves out.
Create a model inspection plan before attempting robot learning.
Choose one question
For a first experiment, ask whether the fingers can reach a particular grasp pose. This is narrower and easier to inspect than trying to learn a complete manipulation policy immediately.
Find a documented model
MuJoCo Menagerie includes several hand models. Read the chosen model’s notes and license, then follow the official installation and viewing instructions. Check joints, actuator definitions, geometry and the hand revision represented.
Record a baseline
Save the repository revision, software version, object geometry, initial pose and control inputs. Look for collisions, unstable contact or joint limits. A visually convincing animation is not a physical validation.
Share something another person can repeat
Post the setup, one screenshot or clip you are allowed to share, and one result or failure. Move to Playground or DexArt only when their environment and hardware requirements fit your next question. These are suggested research steps; Dexhands has not independently reproduced every release.
Try it yourself
Your practical task
- Open the Menagerie source and select a hand model that is actually listed.
- Record its model folder, repository revision, license and installation requirements.
- Inspect its joint names, limits and actuators, then propose one contact test.
What to produce: A model inspection sheet with one assumption to validate.
Check your understanding
Original sources & next steps
MuJoCo Menagerie: official models and instructions ↗MuJoCo documentation ↗Original Dexhands teaching material. Interactive models and added references reviewed September 23, 2026; the introductory reading retains its September 22 review. Research links are not endorsements or evidence of hardware compatibility.