Repository docs

Software

The open-source software stack is split into four focused repositories: hardware API, MuJoCo simulation, hand retargeting, and live teleoperation.

GitHub Org

midas_hand_api

MIDAS Hand API

Python interface for the 13-motor Dynamixel hand and Paxini GEN3 tactile sensors. Includes low-level actuator communication, high-level hand commands, homing, calibration, and tactile readout.

Repository

midas_hand_mujoco

MuJoCo Simulation

MuJoCo-only whole-hand model with MJCF, URDF, STL meshes, and interactive/headless simulation entrypoints. The non-thumb fingers use closed-loop constraints for PIP-DIP linkage behavior.

Repository

midas_hand_retargeter

Retargeter

MIDAS-specific wrappers around dex-retargeting. Owns retargeting configuration, human landmark adapters, output adapters, neutral calibration, tuning knobs, and passive coupling modes.

Repository

midas_hand_teleop

Teleoperation

MediaPipe webcam wrappers that produce MIDAS retargeting inputs and stream commands to print, MuJoCo, or hardware backends with live calibration and debug visualizations.

Repository

Clone Repositories

Clone the repositories needed for your workflow, then follow each repository README for dependencies, setup, and examples.

git clone https://github.com/midas-hand-org/midas_hand_api.git
git clone https://github.com/midas-hand-org/midas_hand_mujoco.git
git clone https://github.com/midas-hand-org/midas_hand_retargeter.git
git clone https://github.com/midas-hand-org/midas_hand_teleop.git