/pytorch_barrett_hand_forward_kinematics_layer

A fully differentiable PyTorch implementation of the forward kinematics equation of the Barrett Hand

Primary LanguagePythonMIT LicenseMIT

Multi-FinGAN

This repository includes the forward kinematics implementation of the Barrett Hand in PyTorch and is used in this work.

Authors: Jens Lundell
Maintainer: Jens Lundell, jens.lundell@aalto.fi
Affiliation: Intelligent Robotics Lab, Aalto University

Getting Started

The code was developed for python3.6 and Ubuntu 18.04.

Dependencies

  • Python requirements: Run pip install -r requirements.txt.

Installation

To use this package we recommend installing it with

python3 setup.py install --user

Citation

If this code is useful in your research, please consider citing:

@article{lundell2020multi,
  title={Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps},
  author={Lundell, Jens and Corona, Enric and Le, Tran Nguyen and Verdoja, Francesco and Weinzaepfel, Philippe and Rogez, Gregory and Moreno-Noguer, Francesc and Kyrki, Ville},
  journal={arXiv preprint arXiv:2012.09696},
  year={2020}
}

License

This project is licensed under the MIT License - see the LICENSE file for details