Chronological feed of everything captured from Pulkit Agrawal.
KaRMA (Kinematic Rolling Manipulation Ability) is a new metric designed to quantify true in-hand dexterity — the ability to continuously repose an object within a grasp — which traditional static metrics like workspace, manipulability, and grasp stability fail to capture. It models a two-finger precision pinch manipulating a spherical object via feasible rolling motions, enforcing joint limits, collision, rolling contact, and antipodal force constraints, then maps reachable object poses via BFS over translation and rotation primitives. The metric produces three scores (KaRMA-T, KaRMA-R, KaRMA-S) and was evaluated on 16 robotic hands, revealing translation-rotation tradeoffs and differentiating hands that static proxies rank identically. It also outperforms Jacobian-based metrics in qualitative alignment with published task benchmarks.