D'Manus Interfacing Library

This library contains interfacing code for the D'Manus hand with large-area ReSkin sensing

Useful links: Paper Website Data

The library is built on top of a fork of the dynamixel library and the ReSkin library. We offer a Gym interface for simple and familiar interaction.

Setup

1. Create a conda env using the provided env.yml file .

conda env create -f env.yml 
conda activate dmanus_env

2. Follow instructions to setup dynamixel SDK.
3. Run the collect_data.py file to run motor babble policy to collect data. Custom policies can be defined in conf/policy to initialize one of the provided policy classes in policies.py.

Citation and Bibtex

Bhirangi, R., DeFranco, A., Adkins, J., Majidi, C., Gupta, A., Hellebrekers, T., & Kumar, V. (2022). All the Feels: A dexterous hand with large area sensing. arXiv preprint arXiv:2210.15658.

@article{bhirangi2022all,
  title={All the Feels: A dexterous hand with large area sensing},
  author={Bhirangi, Raunaq and DeFranco, Abigail and Adkins, Jacob and Majidi, Carmel and Gupta, Abhinav and Hellebrekers, Tess and Kumar, Vikash},
  journal={arXiv preprint arXiv:2210.15658},
  year={2022}
}