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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.

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.

Menagerie model documentation · MuJoCo documentation