.. hand_embodiment documentation master file, created by
   sphinx-quickstart on Tue Aug  2 20:26:55 2022.

hand_embodiment
===============

.. image:: _static/overview.png

This is the implementation of the paper

Alexander Fabisch, Manuela Uliano, Dennis Marschner, Melvin Laux,
Johannes Brust, Marco Controzzi:
**A Modular Approach to the Embodiment of Hand Motions from Human Demonstrations**,
https://arxiv.org/abs/2203.02778

.. toctree::
   :maxdepth: 1
   :caption: Contents:

   installation
   motion_capture_setup
   configuration_mano
   configuration_robot
   object_frames
   embodiment
   segmentation
   contact_surfaces
   docs
   tests
   merge_policy
   funding

The general idea of this software package is to use the
`MANO hand model <https://mano.is.tue.mpg.de/>`_ to represent human
hand configurations and then transfer the state of the MANO
model to robotic hands. This allows us to quickly change the motion capture
approach because we have an independent representation of the hand's state.
Furthermore, we can easily change the target system because we just need to
configure the mapping from MANO to the target hand.

The currently implemented motion capture approaches are:

* marker-based motion capture with the Qualisys system

The currently implemented target systems are:

* Mia hand from Prensilia
* Dexterous Hand from Shadow
* Robotiq 2F-140 gripper
* BarrettHand


Indices and tables
==================

* :ref:`genindex`
* :ref:`search`