A reference implementation for the paper at Science Robotics Learning garment manipulation policies toward robot-assisted dressing.
- Paper page: https://www.science.org/doi/10.1126/scirobotics.abm6010
- Project page: https://fan6zh.github.io/robot-dressing/
- Code: https://github.com/fan6zh/robot_dressing
- Author: Fan Zhang (f.zhang16@imperial.ac.uk), Yiannis Demiris
🔬 This repo contains
- Tactile garment edge tracing for unfolding.
- Combining baxter and ridgeback urdf.
- Integrating pytorch, openai gym and blender sumulation.
- The framework of simCLR.
- Tested with Baxter robot, Clearpath Ridgeback and Robotic grippers.
- Built in Blender simulation.
📝 Acknowledgements
- pytorch-blender (https://github.com/cheind/pytorch-blender)
- hospital bed and rail models could be found here: https://www.turbosquid.com/3d-model/free/bed/obj
- robotiq gripper models could be found here: https://robotiq.com/products/2f85-140-adaptive-robot-gripper?ref=nav_product_new_button
- Gelsight mini (https://github.com/gelsightinc/gsrobotics)