├── .gitignore ├── .gitmodules ├── Data_Collection.md ├── Readme.md ├── camera ├── __init__.py ├── camera_tools.py ├── capture.py ├── capture_3d.py ├── manager.py ├── sam.py ├── transform.yaml └── workspace │ ├── .intrinsic │ ├── detections.pkl │ └── log.txt │ ├── boards.yaml │ ├── calibration.detections.pkl │ ├── calibration.json │ ├── calibration.pkl │ ├── calibration.txt │ └── intrinsic.json ├── conda.yaml ├── config.yaml ├── download.sh ├── images ├── constructDFF.png ├── method_hand_optim.jpg ├── method_hand_optim.pdf └── teaser.png ├── mjcf ├── meshes │ ├── F1.obj │ ├── F2.obj │ ├── F3.obj │ ├── TH1_z.obj │ ├── TH2_z.obj │ ├── TH3_z.obj │ ├── box.obj │ ├── forearm.obj │ ├── forearm_cvx.obj │ ├── forearm_electric.obj │ ├── forearm_electric_cvx.obj │ ├── frame.obj │ ├── frame_.obj │ ├── frame__.obj │ ├── knuckle.obj │ ├── lfmetacarpal.obj │ ├── palm.obj │ └── wrist.obj ├── penetration_points.json ├── shadow_hand_vis.xml ├── shadow_hand_wrist_free.xml └── textures │ ├── block.png │ └── block_hidden.png ├── optimize ├── __init__.py ├── alignment.py ├── gripper_model.py └── hand_model.py ├── pose_store.py ├── prune ├── __init__.py ├── prune_3D.py └── tools.py ├── pth_download.sh ├── refinement ├── config.yaml ├── criterion.py ├── data_loader.py ├── interpolator.py ├── model.py ├── read.py ├── train_linear_probe.py └── vis_pcd.ply ├── thirdparty_module └── pytorch_kinematics │ ├── .gitignore │ ├── README.md │ ├── pytorch_kinematics │ ├── __init__.py │ ├── chain.py │ ├── frame.py │ ├── jacobian.py │ ├── mjcf.py │ ├── mjcf_parser │ │ ├── __init__.py │ │ ├── attribute.py │ │ ├── base.py │ │ ├── constants.py │ │ ├── copier.py │ │ ├── debugging.py │ │ ├── element.py │ │ ├── io.py │ │ ├── namescope.py │ │ ├── parser.py │ │ ├── schema.py │ │ ├── schema.xml │ │ └── util.py │ ├── sdf.py │ ├── transforms │ │ ├── __init__.py │ │ ├── math.py │ │ ├── rotation_conversions.py │ │ ├── so3.py │ │ └── transform3d.py │ ├── urdf.py │ └── urdf_parser_py │ │ ├── __init__.py │ │ ├── sdf.py │ │ ├── urdf.py │ │ └── xml_reflection │ │ ├── __init__.py │ │ ├── basics.py │ │ └── core.py │ ├── setup.py │ └── tests │ ├── __init__.py │ ├── ant.xml │ ├── humanoid.xml │ ├── kuka_iiwa.urdf │ ├── prismatic_robot.urdf │ ├── simple_arm.sdf │ ├── test_jacobian.py │ ├── test_kinematics.py │ └── test_transform.py ├── unified_optimize.py └── vis_features.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/.gitmodules -------------------------------------------------------------------------------- /Data_Collection.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/Data_Collection.md -------------------------------------------------------------------------------- /Readme.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/Readme.md -------------------------------------------------------------------------------- /camera/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/__init__.py -------------------------------------------------------------------------------- /camera/camera_tools.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/camera_tools.py -------------------------------------------------------------------------------- /camera/capture.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/capture.py -------------------------------------------------------------------------------- /camera/capture_3d.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/capture_3d.py -------------------------------------------------------------------------------- /camera/manager.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/manager.py -------------------------------------------------------------------------------- /camera/sam.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/sam.py -------------------------------------------------------------------------------- /camera/transform.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/transform.yaml -------------------------------------------------------------------------------- /camera/workspace/.intrinsic/detections.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/workspace/.intrinsic/detections.pkl -------------------------------------------------------------------------------- /camera/workspace/.intrinsic/log.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/workspace/.intrinsic/log.txt -------------------------------------------------------------------------------- /camera/workspace/boards.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/workspace/boards.yaml -------------------------------------------------------------------------------- /camera/workspace/calibration.detections.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/workspace/calibration.detections.pkl -------------------------------------------------------------------------------- /camera/workspace/calibration.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/workspace/calibration.json -------------------------------------------------------------------------------- /camera/workspace/calibration.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/workspace/calibration.pkl -------------------------------------------------------------------------------- /camera/workspace/calibration.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/workspace/calibration.txt -------------------------------------------------------------------------------- /camera/workspace/intrinsic.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/camera/workspace/intrinsic.json -------------------------------------------------------------------------------- /conda.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/conda.yaml -------------------------------------------------------------------------------- /config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/config.yaml -------------------------------------------------------------------------------- /download.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/download.sh -------------------------------------------------------------------------------- /images/constructDFF.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/images/constructDFF.png -------------------------------------------------------------------------------- /images/method_hand_optim.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/images/method_hand_optim.jpg -------------------------------------------------------------------------------- /images/method_hand_optim.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/images/method_hand_optim.pdf -------------------------------------------------------------------------------- /images/teaser.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/images/teaser.png -------------------------------------------------------------------------------- /mjcf/meshes/F1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/F1.obj -------------------------------------------------------------------------------- /mjcf/meshes/F2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/F2.obj -------------------------------------------------------------------------------- /mjcf/meshes/F3.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/F3.obj -------------------------------------------------------------------------------- /mjcf/meshes/TH1_z.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/TH1_z.obj -------------------------------------------------------------------------------- /mjcf/meshes/TH2_z.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/TH2_z.obj -------------------------------------------------------------------------------- /mjcf/meshes/TH3_z.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/TH3_z.obj -------------------------------------------------------------------------------- /mjcf/meshes/box.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/box.obj -------------------------------------------------------------------------------- /mjcf/meshes/forearm.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/forearm.obj -------------------------------------------------------------------------------- /mjcf/meshes/forearm_cvx.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/forearm_cvx.obj -------------------------------------------------------------------------------- /mjcf/meshes/forearm_electric.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/forearm_electric.obj -------------------------------------------------------------------------------- /mjcf/meshes/forearm_electric_cvx.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/forearm_electric_cvx.obj -------------------------------------------------------------------------------- /mjcf/meshes/frame.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/frame.obj -------------------------------------------------------------------------------- /mjcf/meshes/frame_.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/frame_.obj -------------------------------------------------------------------------------- /mjcf/meshes/frame__.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/frame__.obj -------------------------------------------------------------------------------- /mjcf/meshes/knuckle.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/knuckle.obj -------------------------------------------------------------------------------- /mjcf/meshes/lfmetacarpal.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/lfmetacarpal.obj -------------------------------------------------------------------------------- /mjcf/meshes/palm.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/palm.obj -------------------------------------------------------------------------------- /mjcf/meshes/wrist.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/meshes/wrist.obj -------------------------------------------------------------------------------- /mjcf/penetration_points.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/penetration_points.json -------------------------------------------------------------------------------- /mjcf/shadow_hand_vis.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/shadow_hand_vis.xml -------------------------------------------------------------------------------- /mjcf/shadow_hand_wrist_free.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/shadow_hand_wrist_free.xml -------------------------------------------------------------------------------- /mjcf/textures/block.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/textures/block.png -------------------------------------------------------------------------------- /mjcf/textures/block_hidden.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/mjcf/textures/block_hidden.png -------------------------------------------------------------------------------- /optimize/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /optimize/alignment.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/optimize/alignment.py -------------------------------------------------------------------------------- /optimize/gripper_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/optimize/gripper_model.py -------------------------------------------------------------------------------- /optimize/hand_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/optimize/hand_model.py -------------------------------------------------------------------------------- /pose_store.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/pose_store.py -------------------------------------------------------------------------------- /prune/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/prune/__init__.py -------------------------------------------------------------------------------- /prune/prune_3D.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/prune/prune_3D.py -------------------------------------------------------------------------------- /prune/tools.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/prune/tools.py -------------------------------------------------------------------------------- /pth_download.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/pth_download.sh -------------------------------------------------------------------------------- /refinement/config.yaml: -------------------------------------------------------------------------------- 1 | nceT: 0.007 2 | max_iter: 81000 -------------------------------------------------------------------------------- /refinement/criterion.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/refinement/criterion.py -------------------------------------------------------------------------------- /refinement/data_loader.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/refinement/data_loader.py -------------------------------------------------------------------------------- /refinement/interpolator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/refinement/interpolator.py -------------------------------------------------------------------------------- /refinement/model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/refinement/model.py -------------------------------------------------------------------------------- /refinement/read.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/refinement/read.py -------------------------------------------------------------------------------- /refinement/train_linear_probe.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/refinement/train_linear_probe.py -------------------------------------------------------------------------------- /refinement/vis_pcd.ply: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/refinement/vis_pcd.ply -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/.gitignore: -------------------------------------------------------------------------------- 1 | .idea 2 | *.egg-info 3 | __pycache__ 4 | temp* -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/README.md -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/__init__.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/chain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/chain.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/frame.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/frame.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/jacobian.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/jacobian.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/__init__.py: -------------------------------------------------------------------------------- 1 | from .parser import * -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/attribute.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/attribute.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/base.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/constants.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/constants.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/copier.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/copier.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/debugging.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/debugging.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/element.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/element.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/io.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/io.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/namescope.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/namescope.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/parser.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/parser.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.xml -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/util.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/mjcf_parser/util.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/sdf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/sdf.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/__init__.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/math.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/math.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/rotation_conversions.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/rotation_conversions.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/so3.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/so3.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/transform3d.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/transforms/transform3d.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/__init__.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/sdf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/sdf.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/urdf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/urdf.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/__init__.py: -------------------------------------------------------------------------------- 1 | from .core import * 2 | -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/basics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/basics.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/core.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/core.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/setup.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/tests/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/tests/ant.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/tests/ant.xml -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/tests/humanoid.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/tests/humanoid.xml -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/tests/kuka_iiwa.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/tests/kuka_iiwa.urdf -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/tests/prismatic_robot.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/tests/prismatic_robot.urdf -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/tests/simple_arm.sdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/tests/simple_arm.sdf -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/tests/test_jacobian.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/tests/test_jacobian.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/tests/test_kinematics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/tests/test_kinematics.py -------------------------------------------------------------------------------- /thirdparty_module/pytorch_kinematics/tests/test_transform.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/thirdparty_module/pytorch_kinematics/tests/test_transform.py -------------------------------------------------------------------------------- /unified_optimize.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/unified_optimize.py -------------------------------------------------------------------------------- /vis_features.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/helloqxwang/SparseDFF/HEAD/vis_features.py --------------------------------------------------------------------------------