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Dexterous Manipulation Online Planning Repo
Dexterous Manipulation Online Planning Repo

Key FeaturesContents

screenshot

Key Features

  • Comprehensive and robust manipulation of objects
  • Fast enough to support online computation and replanning

Contents

  • source_function folder is about the source code of the basic functions like forward_dynamics.py

  • source_motion folder is about source motions which can be combined to form a task, including approach, impact, rolling, sticking, grasping

  • 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.

  • Repo structure: image

  • 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) image
    • impact stage: to make robot impact the object image
    • rolling stage: to utilize robot to roll the object to a desired orientation image
    • sticking stage: to make object stick to the robot end effector and move to a desired position and orientation image
    • grasping stage: to make robot grasp the object, this demo is a fixed grasp, but the code can also support a moving grasp image

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