├── .circleci └── config.yml ├── .flake8 ├── .gitignore ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── examples ├── .gitignore ├── allegro_hand_description │ ├── LICENSE │ ├── README.txt │ ├── allegro_hand_config.rviz │ ├── allegro_hand_config.vcg │ ├── allegro_hand_description_left.urdf │ ├── allegro_hand_description_left.xacro │ ├── allegro_hand_description_left_digit.urdf │ ├── allegro_hand_description_left_digit.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 │ │ ├── base_link.STL │ │ ├── base_link_left.STL │ │ ├── digit.STL │ │ ├── link_0.0.STL │ │ ├── link_1.0.STL │ │ ├── link_12.0_left.STL │ │ ├── link_12.0_right.STL │ │ ├── link_13.0.STL │ │ ├── link_14.0.STL │ │ ├── link_15.0.STL │ │ ├── link_15.0_tip.STL │ │ ├── link_2.0.STL │ │ ├── link_3.0.STL │ │ ├── link_3.0_tip.STL │ │ └── link_4.0.STL ├── camera.py ├── conf │ ├── allegro_hand.yaml │ ├── bg_digit_240_320.jpg │ ├── digit.yaml │ ├── digit_shadow.yaml │ ├── grasp.yaml │ ├── omnitact.yaml │ ├── rolling.yaml │ └── sawyer_gripper_env.yaml ├── demo_pybullet_allegro_hand.py ├── demo_pybullet_digit.py ├── demo_pybullet_digit_shadow.py ├── demo_pybullet_grasp.py ├── demo_pybullet_omnitact.py ├── demo_pybullet_rolling.py ├── demo_render.py ├── demo_sawyer_gripper_env.py ├── objects │ ├── checker_huge.gif │ ├── cube.obj │ ├── cube_small.urdf │ ├── sphere_small.urdf │ ├── textured_sphere_smooth.mtl │ └── textured_sphere_smooth.obj ├── robots │ └── sawyer_wsg50.urdf ├── sawyer_gripper.py ├── sawyer_gripper_env.py ├── sawyer_robot │ ├── LICENSE │ ├── package.xml │ └── sawyer_description │ │ ├── meshes │ │ ├── sawyer_mp1 │ │ │ ├── l6.DAE │ │ │ └── l6.STL │ │ ├── sawyer_mp3 │ │ │ ├── l0.DAE │ │ │ ├── l0.STL │ │ │ ├── l1.DAE │ │ │ └── l1.STL │ │ └── sawyer_pv │ │ │ ├── base.DAE │ │ │ ├── base.STL │ │ │ ├── head.DAE │ │ │ ├── head.STL │ │ │ ├── l0.DAE │ │ │ ├── l0.STL │ │ │ ├── l1.DAE │ │ │ ├── l1.STL │ │ │ ├── l2.DAE │ │ │ ├── l2.STL │ │ │ ├── l3.DAE │ │ │ ├── l3.STL │ │ │ ├── l4.DAE │ │ │ ├── l4.STL │ │ │ ├── l5.DAE │ │ │ ├── l5.STL │ │ │ ├── l6.DAE │ │ │ ├── l6.STL │ │ │ ├── pedestal.DAE │ │ │ └── pedestal.STL │ │ └── urdf │ │ └── sawyer.urdf └── wsg50 │ ├── DIGIT-WSG-50-V1.STL │ ├── GUIDE_WSG50_110.stl │ ├── LICENSE │ ├── WSG-FMF.stl │ ├── WSG50_110.stl │ └── digit.STL ├── experiments ├── grasp_stability │ ├── README.md │ ├── draw.py │ ├── grasp_data_collection.py │ ├── robot.py │ ├── setup │ │ ├── objects │ │ │ ├── cube.obj │ │ │ └── cube_small.urdf │ │ ├── robots │ │ │ └── sawyer_wsg50.urdf │ │ ├── sawyer_robot │ │ │ ├── LICENSE │ │ │ ├── package.xml │ │ │ └── sawyer_description │ │ │ │ ├── meshes │ │ │ │ ├── sawyer_mp1 │ │ │ │ │ ├── l6.DAE │ │ │ │ │ └── l6.STL │ │ │ │ ├── sawyer_mp3 │ │ │ │ │ ├── l0.DAE │ │ │ │ │ ├── l0.STL │ │ │ │ │ ├── l1.DAE │ │ │ │ │ └── l1.STL │ │ │ │ └── sawyer_pv │ │ │ │ │ ├── base.DAE │ │ │ │ │ ├── base.STL │ │ │ │ │ ├── head.DAE │ │ │ │ │ ├── head.STL │ │ │ │ │ ├── l0.DAE │ │ │ │ │ ├── l0.STL │ │ │ │ │ ├── l1.DAE │ │ │ │ │ ├── l1.STL │ │ │ │ │ ├── l2.DAE │ │ │ │ │ ├── l2.STL │ │ │ │ │ ├── l3.DAE │ │ │ │ │ ├── l3.STL │ │ │ │ │ ├── l4.DAE │ │ │ │ │ ├── l4.STL │ │ │ │ │ ├── l5.DAE │ │ │ │ │ ├── l5.STL │ │ │ │ │ ├── l6.DAE │ │ │ │ │ ├── l6.STL │ │ │ │ │ ├── pedestal.DAE │ │ │ │ │ └── pedestal.STL │ │ │ │ └── urdf │ │ │ │ └── sawyer.urdf │ │ └── wsg50 │ │ │ ├── DIGIT-WSG-50-V1.STL │ │ │ ├── GUIDE_WSG50_110.stl │ │ │ ├── LICENSE │ │ │ ├── WSG-FMF.stl │ │ │ ├── WSG50_110.stl │ │ │ └── digit.STL │ └── train.py └── rolling │ ├── BO_rolling_collect.py │ ├── README.md │ ├── Rolling.py │ ├── RollingEnv.py │ ├── draw_rolling.py │ └── setup │ ├── objects │ ├── checker_huge.gif │ ├── sphere_small.urdf │ ├── textured_sphere_smooth.mtl │ └── textured_sphere_smooth.obj │ └── sensors │ ├── digit.STL │ └── digit.urdf ├── meshes ├── digit.STL ├── digit.urdf ├── omnitact.STL ├── omnitact.urdf ├── omnitact_license.txt └── omnitact_mod_pybullet.STL ├── noxfile.py ├── requirements ├── dev.txt ├── examples.txt └── requirements.txt ├── setup.py ├── tacto ├── __init__.py ├── config_digit.yml ├── config_digit_shadow.yml ├── config_omnitact.yml ├── random_normal_generator.py ├── renderer.py ├── sensor.py └── timeit.py ├── tests ├── benchmark.py ├── color-osmesa-ground-truth.npy ├── depthmap.npy ├── test_random_normal_generator.py ├── test_render_from_depth_osmesa.py └── test_timeit.py └── website └── static └── img ├── demo_allegro.gif ├── demo_digit.gif ├── demo_grasp.gif ├── demo_omnitact.gif ├── demo_rolling.gif ├── demo_shadow.gif ├── digit-logo.svg └── teaser.jpg /.circleci/config.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/tacto/HEAD/.circleci/config.yml -------------------------------------------------------------------------------- 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