This is the code that accompanies my Masters Thesis!

Getting Started

The easiest way to run these scripts is with uv. You can find the instructions to install it here.

Once you've cloned this repo, you can run uv sync to install all of the packages.

The main scripts are numbered chronologically in src/. For example, I can run:

uv run mjpython src/4_pregrasp.py --object foam_brick

All of my figures and results are reproduceable. For those, I have created Jupyter notebooks. It's a bit messy, but they're all in the notebooks directory!

Notes

You may need to clone with the --recurse-submodules flag to get the ORCA Hand assets.