├── .gitignore ├── README.md ├── calibration_data ├── cali01.json ├── cali02.json ├── cali03.json ├── cam0_depth.txt ├── cam0_rgb.txt ├── cam1_depth.txt ├── cam1_rgb.txt ├── cam2_depth.txt ├── cam2_rgb.txt ├── cam3_depth.txt └── cam3_rgb.txt ├── data_preprocess ├── assets │ ├── bimanual_srhand_ur.urdf │ ├── kintree_info.json │ ├── output_for_sim.txt │ ├── sr_arm_hand_ur.json │ └── srhand_ur.json ├── clear_cache.py ├── gen_pcd.py ├── main.py ├── models │ ├── __init__.py │ ├── hand_model.py │ └── shadow_hand_builder.py ├── time_sync.py ├── utils │ ├── __init__.py │ ├── camera_param.json │ ├── global_util.py │ ├── kintree.py │ ├── loss.py │ ├── pcd_util.py │ ├── tta_util.py │ └── urdf_util.py └── visualization │ ├── vis_cad.py │ └── vis_skeleton.py ├── dexgrasp_generation ├── assets │ ├── RealDexData │ │ └── pose_mean_std.pt │ ├── bimanual_srhand_ur.urdf │ ├── kintree_info.json │ ├── mano │ ├── mjcf │ │ ├── contact_points.json │ │ ├── contact_points_tip.json │ │ ├── meshes │ │ │ ├── F1.obj │ │ │ ├── F2.obj │ │ │ ├── F3.obj │ │ │ ├── TH1_z.obj │ │ │ ├── TH2_z.obj │ │ │ ├── TH3_z.obj │ │ │ ├── box.obj │ │ │ ├── forearm.obj │ │ │ ├── forearm_cvx.obj │ │ │ ├── forearm_electric.obj │ │ │ ├── forearm_electric_cvx.obj │ │ │ ├── frame.obj │ │ │ ├── frame_.obj │ │ │ ├── frame__.obj │ │ │ ├── knuckle.obj │ │ │ ├── lfmetacarpal.obj │ │ │ ├── palm.obj │ │ │ └── wrist.obj │ │ ├── meshes_fixed │ │ │ ├── F1.obj │ │ │ ├── F2.obj │ │ │ ├── F3.obj │ │ │ ├── TH1_z.obj │ │ │ ├── TH2_z.obj │ │ │ ├── TH3_z.obj │ │ │ ├── box.obj │ │ │ ├── forearm_cvx.obj │ │ │ ├── forearm_electric_cvx.obj │ │ │ ├── knuckle.obj │ │ │ ├── lfmetacarpal.obj │ │ │ ├── palm.obj │ │ │ └── wrist.obj │ │ ├── penetration_points.json │ │ ├── shadow_hand.xml │ │ ├── shadow_hand_vis.xml │ │ ├── shadow_hand_wrist_free.xml │ │ └── textures │ │ │ ├── block.png │ │ │ └── block_hidden.png │ └── srhand_ur.json ├── configs_realdex │ ├── cm_net_config.yaml │ ├── cvae_config.yaml │ ├── dataset │ │ ├── cm_net_data.yaml │ │ ├── cvae_data.yaml │ │ └── eval_data.yaml │ ├── eval_config.yaml │ ├── model │ │ ├── cm_net.yaml │ │ └── cvae.yaml │ └── normalize_data_config.yaml ├── datasets │ ├── object_dataset.py │ ├── realdex_dataset.py │ └── shadow_hand_builder.py ├── environment.yml ├── network │ ├── data │ │ └── dataset.py │ ├── models │ │ ├── affordancenet │ │ │ └── affordance_network.py │ │ ├── backbones │ │ │ ├── pointnet_encoder.py │ │ │ └── pointnetpp_encoder.py │ │ ├── contactnet │ │ │ └── contact_network.py │ │ ├── loss.py │ │ └── model.py │ ├── standard_data.py │ ├── train.py │ └── trainer.py ├── requirements.txt ├── scripts │ └── compute_dataset_info.py ├── thirdparty │ └── pytorch_kinematics │ │ ├── .gitignore │ │ ├── README.md │ │ ├── pytorch_kinematics │ │ ├── __init__.py │ │ ├── chain.py │ │ ├── frame.py │ │ ├── jacobian.py │ │ ├── mjcf.py │ │ ├── mjcf_parser │ │ │ ├── __init__.py │ │ │ ├── attribute.py │ │ │ ├── base.py │ │ │ ├── constants.py │ │ │ ├── copier.py │ │ │ ├── debugging.py │ │ │ ├── element.py │ │ │ ├── io.py │ │ │ ├── namescope.py │ │ │ ├── parser.py │ │ │ ├── schema.py │ │ │ ├── schema.xml │ │ │ └── util.py │ │ ├── sdf.py │ │ ├── transforms │ │ │ ├── __init__.py │ │ │ ├── math.py │ │ │ ├── rotation_conversions.py │ │ │ ├── so3.py │ │ │ └── transform3d.py │ │ ├── urdf.py │ │ └── urdf_parser_py │ │ │ ├── __init__.py │ │ │ ├── sdf.py │ │ │ ├── urdf.py │ │ │ └── xml_reflection │ │ │ ├── __init__.py │ │ │ ├── basics.py │ │ │ └── core.py │ │ ├── setup.py │ │ └── tests │ │ ├── __init__.py │ │ ├── ant.xml │ │ ├── humanoid.xml │ │ ├── kuka_iiwa.urdf │ │ ├── prismatic_robot.urdf │ │ ├── simple_arm.sdf │ │ ├── test_jacobian.py │ │ ├── test_kinematics.py │ │ └── test_transform.py ├── train.sh └── utils │ ├── __init__.py │ ├── compute_hand_obj_corr_torch.py │ ├── eval_utils.py │ ├── global_utils.py │ ├── grab_hand_model.py │ ├── hand_model.py │ ├── interrupt_handler.py │ ├── shadow_hand_builder.py │ ├── tta_loss.py │ └── visualize.py ├── download ├── download_dataset.py ├── 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