├── .gitignore ├── README.md ├── configs ├── collision_checker │ └── leap_hand │ │ └── CollisionChecker.yaml ├── data_evaluator │ └── leap_hand │ │ └── SimulationEvaluator.yaml ├── network │ ├── train_dex_grasptta.yaml │ ├── train_dex_isagrasp.yaml │ ├── train_dex_ours.yaml │ └── train_gripper_ours.yaml └── simulator │ └── IsaacGymSimulator.yaml ├── figure └── teaser.png ├── robot_models ├── meshes │ ├── leap │ │ ├── dip.stl │ │ ├── fingertip.stl │ │ ├── mcp_joint.stl │ │ ├── palm_lower.stl │ │ ├── pip.stl │ │ ├── thumb_dip.stl │ │ ├── thumb_fingertip.stl │ │ └── thumb_pip.stl │ └── leap_simplified │ │ ├── dip.stl │ │ ├── fingertip.stl │ │ ├── mcp_joint.stl │ │ ├── palm_lower.stl │ │ ├── pip.stl │ │ ├── thumb_dip.stl │ │ ├── thumb_fingertip.stl │ │ └── thumb_pip.stl ├── meta │ └── leap_hand │ │ ├── contact_candidates.json │ │ ├── meta.yaml │ │ └── width_mapper_meta.yaml └── urdf │ ├── leap_hand.urdf │ ├── leap_hand_simplified.urdf │ └── leap_hand_simplified_free.urdf ├── src ├── eval │ ├── eval_gripper.py │ ├── evaluate_dexterous.py │ ├── evaluate_dexterous_all.py │ ├── evaluate_dexterous_all_cates.py │ ├── predict_dexterous.py │ ├── predict_dexterous_all.py │ ├── predict_dexterous_all_cates.py │ └── print_dexterous_results.py ├── network │ ├── backbones │ │ ├── backbones.py │ │ ├── conv.py │ │ └── conv_unet.py │ ├── condition.py │ ├── cvae.py │ ├── diffusion.py │ ├── diffusion_sample.py │ ├── graspness_sample.py │ ├── mlp.py │ ├── model.py │ └── pointnet.py ├── preprocess │ ├── compute_edges.py │ ├── compute_network_input.py │ ├── compute_network_input_all.py │ ├── dex_graspness.py │ ├── extract_gripper_grasp.py │ ├── gripper_graspness.py │ ├── refine_dataset.py │ └── render_scene.py ├── train.py └── utils │ ├── collision_checker.py │ ├── config.py │ ├── data_evaluator │ ├── data_evaluator.py │ └── simulation_evaluator.py │ ├── dataset.py │ ├── edge.py │ ├── eval_grasp.py │ ├── ik.py │ ├── logger.py │ ├── observer.py │ ├── pc.py │ ├── pose_refine.py │ ├── render.py │ ├── robot_info.py │ ├── robot_model.py │ ├── rot6d.py │ ├── simulator │ ├── isaacgym_simulator.py │ └── simulator.py │ ├── util.py │ ├── vis_plotly.py │ └── width_mapper.py └── tests ├── visualize_dex_grasp.py ├── visualize_dex_pred.py ├── visualize_gripper_pred.py └── visualize_scene.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PKU-EPIC/DexGraspNet2/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PKU-EPIC/DexGraspNet2/HEAD/README.md -------------------------------------------------------------------------------- /configs/collision_checker/leap_hand/CollisionChecker.yaml: -------------------------------------------------------------------------------- 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