├── .gitignore ├── README.md ├── dflex ├── __init__.py ├── adjoint.h ├── adjoint.py ├── config.py ├── mat22.h ├── mat33.h ├── matnn.h ├── model.py ├── quat.h ├── render.py ├── sim copy.py ├── sim.py ├── spatial.h ├── tests │ ├── assets │ │ └── allegro_hand_description │ │ │ ├── README.txt │ │ │ ├── allegro_hand_config.rviz │ │ │ ├── allegro_hand_config.vcg │ │ │ ├── allegro_hand_description_left.urdf │ │ │ ├── allegro_hand_description_left.xacro │ │ │ ├── allegro_hand_description_right.urdf │ │ │ ├── allegro_hand_description_right.xacro │ │ │ ├── allegro_hand_left.pdf │ │ │ ├── allegro_hand_right.pdf │ │ │ ├── build_desc.sh │ │ │ ├── manifest.xml │ │ │ ├── meshes.zip │ │ │ └── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.obj │ │ │ ├── base_link_left.STL │ │ │ ├── base_link_left.obj │ │ │ ├── box.ply │ │ │ ├── link_0.0.STL │ │ │ ├── link_0.0.obj │ │ │ ├── link_1.0.STL │ │ │ ├── link_1.0.obj │ │ │ ├── link_12.0_left.STL │ │ │ ├── link_12.0_left.obj │ │ │ ├── link_12.0_right.STL │ │ │ ├── link_12.0_right.obj │ │ │ ├── link_13.0.STL │ │ │ ├── link_13.0.obj │ │ │ ├── link_14.0.STL │ │ │ ├── link_14.0.obj │ │ │ ├── link_15.0.STL │ │ │ ├── link_15.0.obj │ │ │ ├── link_15.0_tip.STL │ │ │ ├── link_15.0_tip.obj │ │ │ ├── link_2.0.STL │ │ │ ├── link_2.0.obj │ │ │ ├── link_3.0.STL │ │ │ ├── link_3.0.obj │ │ │ ├── link_3.0_tip.STL │ │ │ ├── link_3.0_tip.obj │ │ │ ├── link_4.0.STL │ │ │ ├── link_4.0.obj │ │ │ ├── sphere.ply │ │ │ ├── stltoobj.bat │ │ │ └── stltoobj.mlx │ ├── cem.py │ ├── gmm.py │ ├── gmm_utils.py │ ├── run_cem.py │ ├── run_cma.py │ ├── run_cma_relaxed.py │ ├── run_grad.py │ ├── script_extract_sdf.py │ └── test_util.py ├── util.py ├── vec2.h └── vec3.h └── grasping ├── conf └── collect_grasps │ ├── collector_config │ └── 011_banana.yaml │ └── config.yaml ├── docker ├── Dockerfile └── environment.yml ├── scripts └── collect_grasps.py └── src ├── cio.py ├── grad.py ├── lift_evaluator.py └── mano_evaluator.py /.gitignore: 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