Twitter/X

Author Kevin Y.

2026-07-27 · 14:51 UTC ·@kevin_y_wu ·0 min read

Brief

Kevin Y. Wu released manosim (github.com/KevinyWu/manosim), a converter that turns MANO hand models into MJCF for MuJoCo. Built while working on HUG and posted 2026-07-27, it uses capsule approximations for fingers to improve contact smoothness and supports generating MuJoCo hands from any MANO shape.

Why it matters

Author Kevin Y. Wu (Twitter/X @kevin_y_wu) published a hand-modeling tool on 2026-07-27: github.com/KevinyWu/manosim.

Key details

  • manosim converts MANO hand models to MJCF for MuJoCo simulations, enabling use of MANO assets in MuJoCo.
  • Key features: (1) finger geometry approximated with capsules to produce smoother contact behavior; (2) automatic generation of hand models for arbitrary MANO hand shapes.
Source evidence

🖐️✌️👊👌🫴🤙🤟👆🤞🤏
I couldn’t find a good human hand model for sim while working on HUG, so I built github.com/KevinyWu/manosim

MANO → MJCF for MuJoCo, with:
1) Capsule approximation of fingers for smoother contacts
2) Generation of hand models for arbitrary MANO hand shapes

Video