Abstract: Systems and methods for online iterative re-planning are provided herein. In one embodiment, a method includes receiving, at a first time step, a first grasp and an initial object pose of an agent. The method also includes generating a first set of candidate object trajectories based on the first grasp and the initial object pose. Candidate object trajectories of the first set of candidate object trajectories provide a number object poses from the initial object pose to a goal for a number of future time steps after the first time step. The method further includes calculating contact points for grasps associated with each candidate object trajectory of the first set of candidate object trajectories. The method further includes selecting a first candidate object trajectory from the first set of candidate object trajectories. The method includes causing the agent to execute the first candidate object trajectory at a second time step.

Abstract: A cane with a base having at least one wheel and an aperture, a support shaft having a user adjustable length and a first end connected to the base, a brake disposed within the aperture having a user adjustable length and at least one grip connected to the support shaft and the grip being operably engaged with the brake.

Abstract: A step-up assist device having a base with an extendable and retractable platform, an actuator operably engaged with linkage connected to the platform, the linkage configured to extend and retract the platform upon operation of the actuator.

Abstract: A walker is disclosed having two sets of handles positioned for rising from and lowering to a seated position in addition to serving as a walking aid. The walker comprises a frame having a front section comprising a pair of front vertical supports and a rigid cross-piece, and two side sections each comprising a rear vertical support having a load-bearing axis formed through a ground-engaging point, rigid connectors connecting the side sections to the front section, a first pair of handles positioned to support a user in a standing or walking position, and a second pair of handles positioned below and to the rear of the first set of handles to support a user in rising from or lowering to a seated position, in which the geometric centers of each of the second pair of handles is positioned to the rear of the load-bearing axis of each of the rear vertical supports.

Abstract: A cane with a base having at least one wheel and an aperture, a support shaft having a user adjustable length and a first end connected to the base, a brake disposed within the aperture having a user adjustable length and at least one grip connected to the support shaft and the grip being operably engaged with the brake.

Abstract: A lids for a child's drinking cup has a projection extending integrally from an underside of the lid, the projection defining, in an upper surface of the lid body, a straw receptacle. The projection defines a plurality of break lines, such as slits, terminating at break line ends and defining separable segments of the projection. The break line ends are spaced from the base of the projection in a region of the straw receptacle having a cross-section approximately equal in extent to a cross-section of a corresponding drinking straw, such that inserting the straw into the straw receptacle and through the projection forces the projection segments apart, the segment bases engaging an outer surface of the inserted straw to inhibit leakage. Some of the projections include molded stiffening ribs.

Abstract: A lids for a child's drinking cup has a projection extending integrally from an underside of the lid, the projection defining, in an upper surface of the lid body, a straw receptacle. The projection defines a plurality of break lines, such as slits, terminating at break line ends and defining separable segments of the projection. The break line ends are spaced from the base of the projection in a region of the straw receptacle having a cross-section approximately equal in extent to a cross-section of a corresponding drinking straw, such that inserting the straw into the straw receptacle and through the projection forces the projection segments apart, the segment bases engaging an outer surface of the inserted straw to inhibit leakage. Some of the projections include molded stiffening ribs.

Abstract: A dual ovenable food product container is formed from a coated or uncoated paperboard substrate to which is applied a precoat layer and a topcoat layer. The precoat is formed from an aqueous emulsion copolymer such as ethylene vinyl acetate while the top coat is formed from and aqueous emulsion which is a copolymer of one or a mixture of styrenated acrylic copolymers. The T.sub.g of the precoat should be in the range of 0.degree. C. to 25.degree. C., while the T.sub.g of the top coat layer is in the range of about 10.degree. C. to 60.degree. C.