# HandCrafting Motor Programs

Sometimes your research focus might not be learning motor skills, but rather perform other tasks that only require fixed or well-defined behaviors. We provide several implemented motion abstractions for common usage such as position-only movements, joint-space trajectory following. All the functions are currently implemented under [motion_utils.py](https://github.com/UT-Austin-RPL/deoxys_control/blob/main/deoxys/deoxys/experimental/motion_utils.py). To import functions from this utility module, do:

```shell
>> from deoxys.experimental.motion_utils import *
```

Please see the implementation for full details.


## Position-only movements

Position-only movements are basic to top-down pick-place behaviors. Here we have a simple example of running position-only movements using `OSC_POSITION` controller. Run the example:

```shell
    python examples/position_only_movement.py
```

With this script, the robot will grasp an object from a fixed location and place it to another fixed location. The following video shows how the robot behaves by running the script above.

<video class="img-fluid" autoplay loop muted controls>
    <source src="https://utexas.box.com/shared/static/m7w0fcb6aesfq3l3p4ye6sspp7d2sra8.mp4" type="video/mp4" />
</video>