├── .dockerignore ├── .gitignore ├── CMakeLists.txt ├── Format ├── CMakeLists.txt ├── git-cmake-format.py └── git-pre-commit-hook ├── LICENSE ├── README.md ├── batch.py ├── cmake ├── DownloadProject.CMakeLists.cmake.in ├── DownloadProject.cmake ├── FindAVX.cmake ├── FindFMA.cmake ├── FindPardiso.cmake ├── FindSSE.cmake ├── FindSuiteSparse.cmake ├── IPCDependencies.cmake ├── IPCDownloadExternal.cmake └── Warnings.cmake ├── data.zip ├── docker ├── Dockerfile ├── build.sh └── run.sh ├── output ├── README.md └── resultsStats.txt ├── src ├── AnimScripter.cpp ├── AnimScripter.hpp ├── CCD │ ├── EVCTCD │ │ ├── CTCD.cpp │ │ ├── CTCD.h │ │ └── rpoly.h │ ├── ExactCCD.cpp │ └── ExactCCD.hpp ├── CollisionObject │ ├── CollisionConstraints.cpp │ ├── CollisionConstraints.hpp │ ├── CollisionObject.h │ ├── FrictionUtils.hpp │ ├── HalfSpace.cpp │ ├── HalfSpace.hpp │ ├── MeshCO.cpp │ ├── MeshCO.hpp │ ├── MeshCollisionUtils.hpp │ ├── SelfCollisionHandler.cpp │ └── SelfCollisionHandler.hpp ├── Config.cpp ├── Config.hpp ├── Energy │ ├── Energy.cpp │ ├── Energy.hpp │ └── Physics_Elasticity │ │ ├── FixedCoRotEnergy.cpp │ │ ├── FixedCoRotEnergy.hpp │ │ ├── NeoHookeanEnergy.cpp │ │ └── NeoHookeanEnergy.hpp ├── LinSysSolver │ ├── AMGCLSolver.cpp │ ├── AMGCLSolver.hpp │ ├── CHOLMODSolver.cpp │ ├── CHOLMODSolver.hpp │ ├── EigenLibSolver.cpp │ ├── EigenLibSolver.hpp │ └── LinSysSolver.hpp ├── Mesh.cpp ├── Mesh.hpp ├── Projects │ ├── CMakeLists.txt │ ├── Diagnostic │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ └── Diagnostic.cpp │ └── MeshProcessing │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ └── MeshProcessing.cpp ├── TimeStepper │ ├── Optimizer.cpp │ └── Optimizer.hpp ├── Utils │ ├── AutoFlipSVD.hpp │ ├── BarrierFunctions.hpp │ ├── ClosedFormSVD2d.hpp │ ├── GIF.hpp │ ├── GivensQR.hpp │ ├── IglUtils.cpp │ ├── IglUtils.hpp │ ├── OSQPWrapper.h │ ├── SVD │ │ ├── ImplicitQRSVD.h │ │ └── Tools.h │ ├── SpatialHash.hpp │ ├── Timer.hpp │ ├── Triplet.h │ ├── Types.hpp │ ├── getRSS.hpp │ ├── get_feasible_steps.cpp │ └── get_feasible_steps.hpp └── main.cpp ├── tests ├── CCD │ ├── CCDTests.cpp │ └── ExactCCDTests.cpp ├── CMakeLists.txt ├── Collisions │ └── CollisionConstraintTests.cpp └── main.cpp └── tools ├── convert_to_ipc_msh.py ├── generate_chain_scene.py ├── geo_to_msh.py ├── grasping ├── augment_objs.py ├── compare_ipc_phys.py ├── phys_grasp_ipc.py ├── pose_rv.py └── render_grasp.py ├── hpc-job.sh ├── msh_4.0_to_4.1.py ├── process_IP_results.py ├── process_SQP_results.py ├── process_results.sh ├── run-ccd-examples.sh ├── run-comparison-benchmark-hpc.sh └── run-comparison-benchmark-sqp.sh /.dockerignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BerkeleyAutomation/ipc-graspsim/HEAD/.dockerignore -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | dexgrasp_data/ 2 | 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