Solve a Rubik's Cube

Description

Single-handed or bimanual manipulation of a 3x3 Rubik's Cube from scrambled to solved. Open problem: long-horizon dexterity, contact-rich reorientation.

Sub-tasks

• · perceive faces
• · plan moves
• · rotate
• · regrasp

Required capabilities

• dexterous_grasping
• contact_rich_manipulation
• symbolic_planning