ProbHandIK

The probabilistic hand inverse kinematics.

Dependence: OpenRAVE

Sampling hand joint data and train the model

we use Allegro hand as an example and we also have the code for Barrett hand in this package.

1. Run AhandRS.py in pythoncode folder and the data will be saved into AllegroHandData.txt;

2. Run AllegrohandIK.m in matlabcode folder train the model;

3. Run AllegrohandIKSolve.m in matlabcode folder to solve the IK for the optimal grasps you found in the package GPIS.

In package soft_grasping, we have a python version for the trainning of the IK.