Multimodal Grasping Mechanism
Combines layer jamming and tendon-driven mechanisms to adaptively grasp objects in cluttered environments.
Deep Multistage Learning
Implements a deep learning scheme using PyTorch to improve grasping performance in simulation.
CoppeliaSim Integration
Supports simulation scenes with Vortex physics engine for both lightly and highly cluttered scenarios.
Python-Based Codebase
Written in Python 3 with dependencies including PyTorch, NumPy, OpenCV, SciPy, and Matplotlib for ease of extension.
Dataset Support
Includes datasets for training grasping models in cluttered environments, requiring manual download and setup.