- Comprehensive and robust manipulation of objects
- Fast enough to support online computation and replanning
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source_function
folder is about the source code of the basic functions likeforward_dynamics.py
-
source_motion
folder is about source motions which can be combined to form a task, includingapproach
,impact
,rolling
,sticking
,grasping
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combined_motion
folder is about specific task achieved by combining different source motions. -
data
folder is about the generated data of different motions.images
folder is to store the images used in this README.md file. -
Demo of each source motion:
- approach stage: to make robot approach the object in both position and orientation (blue is the object, yellow is the robot)
- impact stage: to make robot impact the object
- rolling stage: to utilize robot to roll the object to a desired orientation
- sticking stage: to make object stick to the robot end effector and move to a desired position and orientation
- grasping stage: to make robot grasp the object, this demo is a fixed grasp, but the code can also support a moving grasp