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‎.github/workflows/sphinx-docs.yml‎

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name: Build and Deploy Sphinx Docs
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on:
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push:
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branches:
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- main
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permissions:
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contents: write
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jobs:
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docs:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: "3.11"
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- name: Install dependencies
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run: |
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pip install sphinx furo myst-parser
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- name: Build HTML
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run: |
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sphinx-build -b html docs/ docs/_build/html
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- name: Deploy to GitHub Pages
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uses: peaceiris/actions-gh-pages@v4
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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publish_dir: docs/_build/html

‎.gitignore‎

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# PyPI configuration file
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.pypirc
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# Ignore all .DS_Store files
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**/.DS_Store
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# Ignore the build directory for Sphinx documentation
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docs/_build/

‎README.md‎

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# <a href="https://do-glove.github.io/">DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove</a>
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**Robotics: Science and Systems (RSS) 2025**
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<a href="https://do-glove.github.io/"><strong>Project Page</strong></a> |
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<a href="https://arxiv.org/pdf/2502.07730"><strong>Paper</strong></a> |
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<a href="https://tea-lab.github.io/DOGlove/"><strong>Documentation</strong></a> |
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<a href="https://www.bilibili.com/video/BV19SLizUEfa/"><strong>30min工作讲解</strong></a>
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[Han Zhang](https://doublehan07.github.io/)<sup>1,2</sup>,
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[Songbo Hu](https://hsb0508.github.io/)<sup>1</sup>,
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[Zhecheng Yuan](https://gemcollector.github.io/)<sup>1,2,3</sup>
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[Huazhe Xu](http://hxu.rocks/)<sup>1,2,3</sup>
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<sup>1</sup>Tsinghua University,
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<sup>2</sup>Shanghai Qi Zhi Institute,
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<sup>3</sup>Shanghai AI Lab
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<div align="center">
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<img src="teaser.jpg" alt="teaser" width="100%">
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</div>
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## 🐣 Update
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* **2025/04/28**, initial commit.
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🚀 Content coming soon. Thanks for your patience!
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## 🏷️ License
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This repository is released under the MIT license. See [LICENSE](LICENSE) for more details.
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## 👍 Acknowledgement
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- Our wrist tracking code is adapted from [HTC Vive Tracker Python API](https://github.com/tianshengs/SteamVR_Tracking).
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- Our Franka control code is adapted from [UMI](https://github.com/real-stanford/universal_manipulation_interface) and [Data Scaling Laws](https://github.com/Fanqi-Lin/Data-Scaling-Laws).
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- Our 3D diffusion policy implementation is adapted from [3D Diffusion Policy](https://github.com/YanjieZe/3D-Diffusion-Policy) and [DemoGen](https://github.com/TEA-Lab/DemoGen).
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- The teleoperation baseline (AnyTeleop) is implemented from [Dex Retargeting](https://github.com/dexsuite/dex-retargeting).
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Contact [Han Zhang](https://doublehan07.github.io/) if you have any questions or suggestions.
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## 📝 Citation
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If you find our work useful, please consider citing:
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```console
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@article{zhang2025doglove,
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title={DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove},
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author={Zhang, Han and Hu, Songbo and Yuan, Zhecheng and Xu, Huazhe},
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journal={arXiv preprint arXiv:2502.07730},
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year={2025}
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}
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```

‎docs/Makefile‎

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# Minimal makefile for Sphinx documentation
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#
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# You can set these variables from the command line, and also
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# from the environment for the first two.
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SPHINXOPTS ?=
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SPHINXBUILD ?= sphinx-build
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SOURCEDIR = .
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BUILDDIR = _build
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# Put it first so that "make" without argument is like "make help".
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help:
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@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
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.PHONY: help Makefile
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# Catch-all target: route all unknown targets to Sphinx using the new
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# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
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%: Makefile
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@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

‎docs/_static/logo.png‎

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‎docs/chapters/getting_started.md‎

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# Getting Started
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🚀 Content coming soon. Thanks for your patience!

‎docs/chapters/the_firmware.md‎

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# Firmware
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🚀 Content coming soon. Thanks for your patience!

‎docs/chapters/the_hardware.md‎

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# Hardware
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🚀 Content coming soon. Thanks for your patience!

‎docs/chapters/the_software.md‎

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# Software
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🚀 Content coming soon. Thanks for your patience!

‎docs/conf.py‎

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# Configuration file for the Sphinx documentation builder.
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#
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# For the full list of built-in configuration values, see the documentation:
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# https://www.sphinx-doc.org/en/master/usage/configuration.html
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# -- Project information -----------------------------------------------------
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# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
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project = 'DOGlove'
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copyright = '2025, DOGlove'
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author = 'Han Zhang, Songbo Hu, Zhecheng Yuan, Huazhe Xu'
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# -- General configuration ---------------------------------------------------
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# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
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extensions = [
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# Sphinx's own extensions
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"sphinx.ext.autodoc",
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"sphinx.ext.extlinks",
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"sphinx.ext.intersphinx",
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"sphinx.ext.mathjax",
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"sphinx.ext.todo",
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"sphinx.ext.viewcode",
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'myst_parser',
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]
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exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
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# -- Options for HTML output -------------------------------------------------
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# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
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html_theme = "furo"
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html_title = "DOGlove"
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html_logo = "_static/logo.png"
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language = "en"
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html_static_path = ['_static']
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html_css_files = ["pied-piper-admonition.css"]
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# -- Options for Autodoc --------------------------------------------------------------
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autodoc_member_order = "bysource"
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autodoc_preserve_defaults = True
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# Keep the type hints outside the function signature, moving them to the
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# descriptions of the relevant function/methods.
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autodoc_typehints = "description"
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# Allow both .rst and .md
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source_suffix = {
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'.rst': 'restructuredtext',
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'.md': 'markdown',
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}

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