Dextrous Hand Tasks

Table-Top Dexterous Hand Tasks

RotateValveLevel0-v1

(Note there is Level0, Level1, … to Level4)

Task Card

Task Description: Using the D’Claw robot, rotate a ROBEL valve

Supported Robots: DClaw

Randomizations:

• Rotation direction \(r\). Level 0: \(r=1\), Level 4: \(r \in \{1, -1\}\). (during reconfiguration)

• Number of valves on the ROBEL valve \(v\). Level 0-1: \(v=3\), Level 2-4: \(v \in [3, 6]\). (during reconfiguration)

• Valve angles \(\phi\). Level 0: Equally spaced \(\phi = (0, 2\pi/3, 4\pi/3)\), Level 1-4: Each angle is randomized. (during reconfiguration)

• Level 4 only: valve radii are randomized a little. (during reconfiguration)

• Initial valve rotation is randomized

Success Conditions:

• The valve rotated more than \(\theta\) radians from its initial position. Level 0: \(\theta = \pi/2\), Level 1-3: \(\theta = \pi\), Level 4: \(\theta=2\pi\)

Goal Specification:

• Rotation direction \(r\) which can be 1 or -1. Note that the amount to rotate is implicit and depends of level

RotateSingleObjectInHandLevel0-v1

(Note there is Level0, Level1, … to Level4)

Task Card

Task Description: Using the allegro hand with tactile sensors, rotate a random object.

Supported Robots: Allegro Hand

Randomizations: WIP

Success Conditions: WIP

Goal Specification: WIP

TriFingerRotateCubeLevel0-v1

(Note there is Level0, Level1, … to Level4)

Task Card

Task Description: Using the TriFingerPro robot, rotate a cube

Supported Robots: TriFingerPro

Randomizations:

• Level 0: Random goal position on the table, no orientation.

• Level 1: Random goal position on the table, including yaw orientation.

• Level 2: Fixed goal position in the air with x,y = 0. No orientation.

• Level 3: Random goal position in the air, no orientation.

• Level 4: Random goal pose in the air, including orientation.

Success Conditions:

• The rotated cube should be within 0.02 m of the goal position and 0.1 rad of the goal orientation.