Control, simulation, and experiment tooling for the Inspire RH56DFX dexterous hand.
The repository is kept lightweight for users who need to install and run the code. Qualitative videos, project media, and paper-facing results live on the RH56DFX project page; large local datasets and generated outputs are intentionally kept out of Git.
- Python control APIs for the RH56 hand.
- MuJoCo simulation and grasp-planning tools.
- Optional UR5, H1-2, ROS2, and force-control workflows.
- Profile-based installation so users can install only the stack they need.
- Developer and experiment utilities for calibration, visualization, and validation.
curl -LsSf https://astral.sh/uv/install.sh | sh
git clone --depth 1 https://github.com/correlllab/rh56_controller.git
cd rh56_controller
git submodule update --init --recursive --depth 1 h1_mujoco mink
tools/setup_uv_env.sh --profile sim-hand --python 3.12 --env .venv312
source .venv312/bin/activate
python tools/check_profile_imports.py --profile sim-hand
uv run python -m rh56_controller.grasp_vizFor other robot stacks, start with the profile chooser in docs/INSTALL_PROFILES.md.
| Goal | Profile | Submodules | First command |
|---|---|---|---|
| Floating RH56 hand planner | sim-hand | h1_mujoco, mink | uv run python -m rh56_controller.grasp_viz |
| UR5 + RH56 simulation | sim-ur5 | h1_mujoco, mink | uv run python -m rh56_controller.grasp_viz --robot |
| H1-2 + RH56 simulation | sim-h12 | h1_mujoco | uv run python -m rh56_controller.grasp_viz --h12 |
| Real RH56 hand only | real-hand | optional h1_mujoco | uv run python -m rh56_controller.hand_mirror --port /dev/ttyUSB0 |
| Real RH56 hand + UR5 | real-ur5 | h1_mujoco, mink, magpie_control | uv run python -m rh56_controller.grasp_viz --robot --real-robot --ur5-ip 192.168.0.4 --port /dev/ttyUSB0 |
| ROS2 Humble workflows | real-h12-hand-ros | h1_mujoco | ros2 launch rh56_controller rh56_system.launch.py |
| Topic | Guide |
|---|---|
| Install profile chooser | docs/INSTALL_PROFILES.md |
| Simulation and visualization | docs/sim.md |
| Grasp geometry planner | docs/grasp_viz.md |
| Real UR5 + RH56 setup | docs/real.md |
| ROS2 workflows | docs/ros2.md |
| H1-2 workflows | docs/h12.md |
| Force control UI | docs/force_control.md |
| Force visualization | docs/force_viz.md |
| Local artifacts policy | docs/ARTIFACTS.md |
This repo should contain source code, install tooling, small model assets, and written documentation. It should not track raw experiment logs, generated plots, local workspaces, PDFs, or videos. See docs/ARTIFACTS.md for the local artifact layout.
@misc{tan2026characterizationanalyticalplanninghybrid,
title={Characterization, Analytical Planning, and Hybrid Force Control for the Inspire RH56DFX Hand},
author={Xuan Tan and William Xie and Nikolaus Correll},
year={2026},
eprint={2603.08988},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2603.08988},
}