ROS package to control the simulated and real robot

This code determines the assembly sequence for each fragment of an entire fresco group. Furthermore, it adds a space between each fragment so that it is possible to place it on the work bench using, e.g., the RePAIR SoftHand.

Code for the paper "Interactive Shaping of Granular Media with Reinforcement Learning".

Isaac Gym Reinforcement Learning Environment for Pisa SoftHand

Code for the paper "Compact Multi-Object Placement Using Adjacency-Aware Reinforcement Learning".