├── .gitignore ├── README.md ├── docs ├── Appendix.pdf ├── _config.yml ├── index.md ├── ingrasp_manipulation_simulation.gif ├── ingrasp_manipulation_video.mp4 ├── initial_grasp.mp4 ├── not_move_back.mp4 └── novel_objects.mp4 ├── leap_model_based ├── CMakeLists.txt ├── README.md ├── package.xml ├── setup.py └── src │ └── leap_model_based │ ├── __init__.py │ └── leaphand_pinocchio.py ├── leap_task_A ├── CMakeLists.txt ├── config │ └── taskA_corners.yaml ├── package.xml └── scripts │ ├── leaphand_control.py │ └── leaphand_mujoco.py ├── leap_utils ├── CMakeLists.txt ├── package.xml ├── setup.py └── src │ └── leap_utils │ └── mingrui │ ├── __init__.py │ ├── utils_calc.py │ └── utils_ros.py └── my_robot_description ├── CMakeLists.txt ├── README.md ├── meshes ├── cylinder_m.stl ├── cylinder_s.stl ├── dip.stl ├── fingertip_base.stl ├── fingertip_custom.stl ├── mcp_joint.stl ├── palm_lower.stl ├── pip.stl ├── thumb_dip.stl ├── thumb_fingertip_base.stl └── thumb_pip.stl ├── package.xml └── urdf ├── leaphand_taskA.urdf ├── leaphand_xml ├── dip.stl ├── fingertip_base.stl ├── fingertip_custom.stl ├── leaphand.urdf ├── leaphand.xml ├── leaphand_mujoco.xml ├── mcp_joint.stl ├── palm_lower.stl ├── pip.stl ├── thumb_dip.stl ├── thumb_fingertip_base.stl ├── thumb_pip.stl └── urdf2xml.py └── objects ├── cube.urdf ├── cube.xml ├── cylinder.xml ├── cylinder_m.stl ├── cylinder_mujoco.xml ├── cylinder_s.stl └── scene.xml /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RGMC-XL-team/ingrasp_manipulation/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RGMC-XL-team/ingrasp_manipulation/HEAD/README.md -------------------------------------------------------------------------------- /docs/Appendix.pdf: 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