This repo provides implementation of model-based planners for contact-rich manipulation. The attached Deepnote project includes two notebooks, illustrating two planning algorithms on the Allegro hand dexterous manipulation example:
- A trajectory optimizer using iterative MPC (iMPC),
- A sampling-based planner capable of handling contact dynamics constraints.
Details of the planning algorithms can be found in
- Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models, currently under review.
Our quasidynamic simulator can be found on the tro2023 branch of the quasistatic_simulator repo: