Metadata-Version: 2.4
Name: AHSimulation
Version: 0.1.0
Summary: Add your description here
Requires-Python: >=3.12
Description-Content-Type: text/markdown
Requires-Dist: dora-rs>=0.3.11
Requires-Dist: loop-rate-limiters>=1.1.2
Requires-Dist: mink>=0.0.11
Requires-Dist: mujoco>=3.3.2
Requires-Dist: onshape-to-robot>=1.7.5
Requires-Dist: qpsolvers[quadprog]>=4.7.1

# Mujoco simulation of the hand

Contains the Mujoco model and assets along with a Python node which sets the inverse kinematics problem.

[Mink](https://github.com/kevinzakka/mink) is used to solve the IK as a QP problem.

We can chose to either control the fingertips position (useful for the hand tracking demo) or the distal phalanges orientation.

The AmazingHand model was exported from CAD using [onshape-to-robot](https://github.com/Rhoban/onshape-to-robot)
