Welcome to the TriFinger Robot Simulation docs!

The trifinger_simulation package contains a PyBullet simulation environment for the different TriFinger robots as well as helper functions for some tasks (for sampling goals, computing rewards, etc.).

To learn more about the TriFinger robots, check out our paper (and the corresponding webpage) and the overarching TriFinger documentation.

Getting Started

• Installation
• Quickstart
• Finger Types

Guides

• Real Robot Interface
• Simulation vs Real Robot
• Time Relation of Actions and Observations

API Documentation

• The SimFinger Class
• The TriFingerPlatform Class
• Module collision_objects
• Module visual_objects
• Module camera
• Module pinocchio_utils
• Module finger_types_data

Indices and tables

• Index

• Module Index

• Search Page

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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Last rebuild of this documentation: Dec 18, 2023