Simulation for the TriFinger Robots
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TriFinger Robot Simulation

Welcome to the official simulation of the TriFinger robots!

Screenshots of different (Tri)Finger robots in simulation

The TriFinger Project

To learn more about the TriFinger robots, check out our official project website, and the preprint of this work.


For instructions on how to install and use this package, see the documentation.

Cite Us

If you are using this package in you academic work, please cite this repository and also the corresponding paper:

  author = {Joshi, Shruti and Widmaier, Felix and Agrawal, Vaibhav and Wüthrich, Manuel},
  year = {2020},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{}},
  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 = {},
  month_numeric = {11}
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