# TriFinger Robot Simulation
Welcome to the official simulation of the TriFinger robots!
![Screenshots of different (Tri)Finger robots in simulation](docs/images/all_finger_types.jpg)
## The TriFinger Project
To learn more about the TriFinger robots, check out our official
[project website](https://sites.google.com/view/trifinger), and the
[preprint](https://arxiv.org/abs/2008.03596) of this work.
## Documentation
For instructions on how to install and use this package, see the
[documentation](https://open-dynamic-robot-initiative.github.io/trifinger_simulation/).
## Cite Us
If you are using this package in you academic work, please cite this repository
and also the corresponding paper:
```
@misc{trifinger-simulation,
author = {Joshi, Shruti and Widmaier, Felix and Agrawal, Vaibhav and Wüthrich, Manuel},
year = {2020},
publisher = {GitHub},
journal = {GitHub repository},
howpublished = {\url{https://github.com/open-dynamic-robot-initiative/trifinger_simulation}},
}
```
```
@conference{wuethrich2020trifinger,
title = {TriFinger: An Open-Source Robot for Learning Dexterity},
author = {W{\"u}thrich, M. and Widmaier, F. and Grimminger, F. and Akpo, J. and Joshi, S. and Agrawal, V. and Hammoud, B. and Khadiv, M. and Bogdanovic, M. and Berenz, V. and Viereck, J. and Naveau, M. and Righetti, L. and Sch{\"o}lkopf, B. and Bauer, S.},
booktitle = {Proceedings of the 4th Conference on Robot Learning (CoRL)},
month = nov,
year = {2020},
doi = {},
url = {https://corlconf.github.io/corl2020/paper_421/},
month_numeric = {11}
}
```
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TriFinger机器人仿真___下载.zip
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stl:36个
yml:20个
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TriFinger机器人仿真___下载.zip (203个子文件)
cube_v2.blend 775KB
setup.cfg 2KB
CHANGELOG 738B
custom.css 131B
.flake8 50B
.gitignore 70B
multi_object.JPG 536KB
all_finger_types.jpg 186KB
hand.JPG 162KB
sim_trifingerpro.jpg 100KB
trifingerone.jpg 35KB
trifingeredu.jpg 32KB
trifingerpro.jpg 28KB
fingerone.jpg 25KB
fingerpro.jpg 23KB
fingeredu.jpg 19KB
good_goal.json 807B
flake8-problem-matcher.json 353B
mypy-problem-matcher.json 312B
bad_goal.json 280B
good_goal.json 150B
bad_goal.json 109B
no_goal.json 32B
no_goal.json 27B
.keep 0B
.keep 0B
LICENSE 1KB
Makefile 630B
README.md 2KB
cube_v2.mtl 265B
cube_v2.obj 959B
workspace.png 1.02MB
com_inertias.png 281KB
applied_action_dependency.png 68KB
cube_v2_texture.png 560B
sim_finger.py 32KB
camera.py 22KB
trifinger_platform.py 15KB
__init__.py 15KB
trifinger_reach.py 14KB
test_trifinger_platform.py 12KB
cube_env.py 12KB
test_tasks_move_cube.py 12KB
cube_trajectory_env.py 12KB
test_tasks_move_cuboid.py 12KB
move_cuboid.py 11KB
__init__.py 11KB
test_robot_equivalent_interface.py 10KB
trifinger_push.py 9KB
collision_objects.py 7KB
sample.py 7KB
replay_action_log.py 7KB
playback_data.py 6KB
conf.py 6KB
__init__.py 6KB
test_tasks_rearrange_dice.py 6KB
pinocchio_utils.py 6KB
test_tasks_move_cube_on_trajectory.py 6KB
replay_action_log.py 6KB
visual_objects.py 6KB
real_finger.py 6KB
test_camera.py 5KB
finger_spaces.py 5KB
plot_tip_position_trajectories.py 5KB
run_evaluate_policy.py 4KB
demo_cameras.py 4KB
__main__.py 4KB
__main__.py 4KB
run_evaluate_policy.py 3KB
evaluate_policy.py 3KB
finger_types_data.py 3KB
view_camera_log_real_and_sim.py 3KB
test_reward.py 3KB
__main__.py 3KB
evaluate_policy.py 3KB
test_determinism.py 3KB
run_replay.py 3KB
demo_trifinger_platform.py 3KB
rrc_evaluate.py 3KB
run_replay.py 3KB
sim_finger_screenshots.py 2KB
utils.py 2KB
test_parallel_instances.py 2KB
check_position_control_accuracy.py 2KB
demo_control.py 2KB
profiling.py 2KB
trifingerpro_limits.py 2KB
test_sim_finger.py 2KB
screenshot_mode.py 2KB
action.py 2KB
test_loading_urdfs.py 2KB
test_reset_joints.py 1KB
trifingerpro_model_test.py 1KB
test_sample.py 1KB
demo_load_gym_env.py 1KB
demo_inverse_kinematics.py 1KB
demo_random_policy.py 1KB
data_logger.py 1KB
test_finger_types_data.py 1KB
plot_position_error.py 1KB
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