├── .gitignore ├── .gitmodules ├── README.md ├── assets ├── example_object │ ├── core_bottle_523cddb320608c09a37f3fc191551700 │ │ ├── info │ │ │ ├── simplified.json │ │ │ ├── tabletop_pose.json │ │ │ └── tabletop_scale.json │ │ ├── mesh │ │ │ ├── coacd.obj │ │ │ ├── material.mtl │ │ │ ├── material_0.png │ │ │ ├── normalized.obj │ │ │ └── simplified.obj │ │ └── urdf │ │ │ ├── coacd.urdf │ │ │ ├── coacd.xml │ │ │ └── meshes │ │ │ ├── convex_piece_000.obj │ │ │ ├── convex_piece_001.obj │ │ │ └── convex_piece_002.obj │ ├── core_can_be67418a10003cc9eae3efbc9dbeea │ │ ├── info │ │ │ ├── simplified.json │ │ │ ├── tabletop_pose.json │ │ │ └── tabletop_scale.json │ │ ├── mesh │ │ │ ├── coacd.obj │ │ │ ├── normalized.obj │ │ │ └── simplified.obj │ │ └── urdf │ │ │ ├── coacd.urdf │ │ │ ├── coacd.xml │ │ │ └── meshes │ │ │ ├── convex_piece_000.obj │ │ │ ├── convex_piece_001.obj │ │ │ ├── convex_piece_002.obj │ │ │ ├── convex_piece_003.obj │ │ │ ├── convex_piece_004.obj │ │ │ ├── convex_piece_005.obj │ │ │ ├── convex_piece_006.obj │ │ │ ├── convex_piece_007.obj │ │ │ ├── convex_piece_008.obj │ │ │ ├── convex_piece_009.obj │ │ │ ├── convex_piece_010.obj │ │ │ ├── convex_piece_011.obj │ │ │ ├── convex_piece_012.obj │ │ │ ├── convex_piece_013.obj │ │ │ ├── convex_piece_014.obj │ │ │ ├── convex_piece_015.obj │ │ │ ├── convex_piece_016.obj │ │ │ ├── convex_piece_017.obj │ │ │ ├── convex_piece_018.obj │ │ │ └── convex_piece_019.obj │ ├── core_jar_58c9d6575d62fbaf12bc68f36f3bdd45 │ │ ├── info │ │ │ ├── simplified.json │ │ │ ├── tabletop_pose.json │ │ │ └── tabletop_scale.json │ │ ├── mesh │ │ │ ├── coacd.obj │ │ │ ├── material.mtl │ │ │ ├── material_0.png │ │ │ ├── normalized.obj │ │ │ └── simplified.obj │ │ └── urdf │ │ │ ├── coacd.urdf │ │ │ ├── coacd.xml │ │ │ └── meshes │ │ │ ├── convex_piece_000.obj │ │ │ ├── convex_piece_001.obj │ │ │ └── convex_piece_002.obj │ ├── sem_Piano_438f64dd9ff80bfddd5efa4c0e7932e │ │ ├── info │ │ │ ├── simplified.json │ │ │ ├── tabletop_pose.json │ │ │ └── tabletop_scale.json │ │ ├── mesh │ │ │ ├── coacd.obj │ │ │ ├── material.mtl │ │ │ ├── material_0.png │ │ │ ├── normalized.obj │ │ │ └── simplified.obj │ │ └── urdf │ │ │ ├── coacd.urdf │ │ │ ├── coacd.xml │ │ │ └── meshes │ │ │ ├── convex_piece_000.obj │ │ │ ├── convex_piece_001.obj │ │ │ ├── convex_piece_002.obj │ │ │ ├── convex_piece_003.obj │ │ │ ├── convex_piece_004.obj │ │ │ ├── convex_piece_005.obj │ │ │ ├── convex_piece_006.obj │ │ │ ├── convex_piece_007.obj │ │ │ ├── convex_piece_008.obj │ │ │ ├── convex_piece_009.obj │ │ │ ├── convex_piece_010.obj │ │ │ ├── convex_piece_011.obj │ │ │ ├── convex_piece_012.obj │ │ │ ├── convex_piece_013.obj │ │ │ ├── convex_piece_014.obj │ │ │ ├── convex_piece_015.obj │ │ │ ├── convex_piece_016.obj │ │ │ ├── convex_piece_017.obj │ │ │ ├── convex_piece_018.obj │ │ │ ├── convex_piece_019.obj │ │ │ ├── convex_piece_020.obj │ │ │ ├── convex_piece_021.obj │ │ │ ├── convex_piece_022.obj │ │ │ ├── convex_piece_023.obj │ │ │ ├── convex_piece_024.obj │ │ │ ├── convex_piece_025.obj │ │ │ ├── convex_piece_026.obj │ │ │ ├── convex_piece_027.obj │ │ │ ├── convex_piece_028.obj │ │ │ └── convex_piece_029.obj │ └── sem_ToyFigure_a3087c9105fe0878d18a6b3b9816ca14 │ │ ├── info │ │ ├── simplified.json │ │ ├── tabletop_pose.json │ │ └── tabletop_scale.json │ │ ├── mesh │ │ ├── coacd.obj │ │ ├── material.mtl │ │ ├── material_0.png │ │ ├── normalized.obj │ │ └── simplified.obj │ │ └── urdf │ │ ├── coacd.urdf │ │ ├── coacd.xml │ │ └── meshes │ │ ├── convex_piece_000.obj │ │ └── convex_piece_001.obj └── hand │ ├── README.md │ ├── allegro │ └── right_hand.xml │ ├── attach_hand_to_arm.py │ ├── leap │ ├── right_hand.xml │ └── simplified_assets │ │ ├── base.obj │ │ ├── distal.obj │ │ ├── leap_mount.obj │ │ ├── medial.obj │ │ ├── palm_left.obj │ │ ├── palm_right.obj │ │ ├── pip_left.obj │ │ ├── proximal.obj │ │ ├── thumb_base.obj │ │ ├── thumb_distal.obj │ │ ├── thumb_mp_left.obj │ │ ├── thumb_proximal.obj │ │ ├── thumb_tip.obj │ │ └── tip.obj │ ├── shadow │ ├── right_hand.xml │ └── right_with_forearm.xml │ └── ur10e_shadow │ └── right.xml ├── config ├── base.yaml ├── hand │ ├── allegro.yaml │ ├── leap.yaml │ ├── shadow.yaml │ └── ur10e_shadow.yaml └── task │ ├── collect.yaml │ ├── eval.yaml │ ├── format.yaml │ ├── stat.yaml │ ├── vobj.yaml │ └── vusd.yaml ├── output └── example_shadow │ └── graspdata │ ├── core_bottle_523cddb320608c09a37f3fc191551700 │ ├── scale006_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── scale008_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── scale010_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ └── scale012_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── core_can_be67418a10003cc9eae3efbc9dbeea │ ├── scale006_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── scale008_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── scale010_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ └── scale012_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── core_jar_58c9d6575d62fbaf12bc68f36f3bdd45 │ ├── scale006_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── scale008_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── scale010_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ └── scale012_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── sem_Piano_438f64dd9ff80bfddd5efa4c0e7932e │ ├── scale006_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── scale008_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ ├── scale010_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ └── scale012_pose000 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy │ └── sem_ToyFigure_a3087c9105fe0878d18a6b3b9816ca14 │ ├── scale006_pose000 │ ├── 0.npy │ ├── 1.npy │ ├── 10.npy │ ├── 11.npy │ ├── 12.npy │ ├── 13.npy │ ├── 14.npy │ ├── 15.npy │ ├── 16.npy │ ├── 17.npy │ ├── 18.npy │ ├── 19.npy │ ├── 2.npy │ ├── 3.npy │ ├── 4.npy │ ├── 5.npy │ ├── 6.npy │ ├── 7.npy │ ├── 8.npy │ └── 9.npy │ ├── scale008_pose000 │ ├── 0.npy │ ├── 1.npy │ ├── 10.npy │ ├── 11.npy │ ├── 12.npy │ ├── 13.npy │ ├── 14.npy │ ├── 15.npy │ ├── 16.npy │ ├── 17.npy │ ├── 18.npy │ ├── 19.npy │ ├── 2.npy │ ├── 3.npy │ ├── 4.npy │ ├── 5.npy │ ├── 6.npy │ ├── 7.npy │ ├── 8.npy │ └── 9.npy │ ├── scale010_pose000 │ ├── 0.npy │ ├── 1.npy │ ├── 10.npy │ ├── 11.npy │ ├── 12.npy │ ├── 13.npy │ ├── 14.npy │ ├── 15.npy │ ├── 16.npy │ ├── 17.npy │ ├── 18.npy │ ├── 19.npy │ ├── 2.npy │ ├── 3.npy │ ├── 4.npy │ ├── 5.npy │ ├── 6.npy │ ├── 7.npy │ ├── 8.npy │ └── 9.npy │ └── scale012_pose000 │ ├── 0.npy │ ├── 1.npy │ ├── 10.npy │ ├── 11.npy │ ├── 12.npy │ ├── 13.npy │ ├── 14.npy │ ├── 15.npy │ ├── 16.npy │ ├── 17.npy │ ├── 18.npy │ ├── 19.npy │ ├── 2.npy │ ├── 3.npy │ ├── 4.npy │ ├── 5.npy │ ├── 6.npy │ ├── 7.npy │ ├── 8.npy │ └── 9.npy ├── script ├── example.sh ├── test_BODex_allegro.sh ├── test_BODex_leap.sh ├── test_BODex_shadow.sh ├── test_BODex_ur10e_shadow.sh ├── test_learning_conditional.sh ├── test_learning_shadow.sh └── vis_Dexonomy.sh └── src ├── main.py ├── task ├── __init__.py ├── convert_format.py ├── data_collect.py ├── eval_func │ ├── __init__.py │ ├── base.py │ ├── fc_metric │ │ ├── __init__.py │ │ ├── base.py │ │ ├── dfc.py │ │ ├── q1.py │ │ ├── qp.py │ │ └── tdg.py │ ├── fc_mocap.py │ ├── tabletop_arm.py │ └── tabletop_mocap.py ├── evaluation.py ├── statistic.py ├── vis_obj.py └── vis_usd.py └── util ├── file_util.py ├── hand_util.py ├── rot_util.py └── usd_helper.py /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode* 2 | __pycache__/ 3 | *MUJOCO_LOG.TXT 4 | 5 | output* 6 | assets/ 7 | debug* -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JYChen18/DexGraspBench/HEAD/.gitmodules -------------------------------------------------------------------------------- /README.md: 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