Dexterous Manipulation

DexSuite is a modular simulation framework and benchmark for multi-fingered hands, standardizing observations, actions, and evaluation across 20+ arm–hand configurations, single-arm and bimanual tasks, and rigid, articulated, and deformable objects. It ships with a Manus-glove teleoperation toolchain and an expert demonstration dataset.

DexAloha is my build of the open-source HOPE JR hand: I assembled it, designed a custom motorized wrist that plugs into a Kinova Jaco, and (with Martino Russi) adopted an improved finger design that is easier to assemble and route cables through.