├── Data └── labeled_data2 │ └── use │ └── about_grasp │ ├── 0.002_s420_465-100_ex-True_seg-True_train_record-is111111-new_one_grasptype20220118_downsampled_addhandpoints_normals_20220911.pkl │ └── Download.md ├── GraspNet ├── README.md ├── cpp_wrappers │ ├── compile_wrappers.sh │ ├── cpp_neighbors │ │ ├── build.bat │ │ ├── build │ │ │ └── temp.linux-x86_64-3.6 │ │ │ │ ├── cpp_wrappers │ │ │ │ └── cpp_utils │ │ │ │ │ └── cloud │ │ │ │ │ └── cloud.o │ │ │ │ ├── neighbors │ │ │ │ └── neighbors.o │ │ │ │ └── wrapper.o │ │ ├── neighbors │ │ │ ├── neighbors.cpp │ │ │ └── neighbors.h │ │ ├── radius_neighbors.cpython-36m-x86_64-linux-gnu.so │ │ ├── setup.py │ │ └── wrapper.cpp │ ├── cpp_subsampling │ │ ├── build.bat │ │ ├── build │ │ │ └── temp.linux-x86_64-3.6 │ │ │ │ ├── cpp_wrappers │ │ │ │ └── cpp_utils │ │ │ │ │ └── cloud │ │ │ │ │ └── cloud.o │ │ │ │ ├── grid_subsampling │ │ │ │ └── grid_subsampling.o │ │ │ │ └── wrapper.o │ │ ├── grid_subsampling.cpython-36m-x86_64-linux-gnu.so │ │ ├── grid_subsampling │ │ │ ├── grid_subsampling.cpp │ │ │ └── grid_subsampling.h │ │ ├── setup.py │ │ └── wrapper.cpp │ └── cpp_utils │ │ ├── cloud │ │ ├── cloud.cpp │ │ └── cloud.h │ │ └── nanoflann │ │ └── nanoflann.hpp ├── datasets │ ├── GraspNet.py │ └── common.py ├── kernels │ ├── __pycache__ │ │ ├── kernel_points.cpython-36.pyc │ │ ├── kernel_points.cpython-37.pyc │ │ └── kernel_points.cpython-38.pyc │ ├── dispositions │ │ └── k_015_center_3D.ply │ └── kernel_points.py ├── models │ ├── architectures.py │ ├── architectures_pre.py │ └── blocks.py ├── train_GraspNet.py ├── train_GraspNet_pre.py └── utils │ ├── FK_model.py │ ├── M_ass.npy │ ├── M_shadowhand.npy │ ├── config.py │ ├── logfile │ ├── mayavi_visu.py │ ├── metrics.py │ ├── ply.py │ ├── pointnet2_utils.py │ ├── pointnet_utils.py │ ├── rewrite_xml.py │ ├── show_result.py │ ├── trainer.py │ ├── transform.py │ ├── visualizer.py │ └── write_xml.py ├── Grasptype_bruch ├── README.md ├── dataset_hjl │ └── labeled_hand │ │ └── labeled_shadow_hand.pcd ├── grasptype_brunch │ ├── average_hand_pose_taxonomy.npy │ ├── checkpoint │ │ ├── model.2022-1-099.pth │ │ └── model_ik_solver_new.pth │ ├── classify_grasp.py │ ├── data │ │ └── 33types │ │ │ ├── 0.pcd │ │ │ ├── 1.pcd │ │ │ ├── 10.pcd │ │ │ ├── 11.pcd │ │ │ ├── 12.pcd │ │ │ ├── 13.pcd │ │ │ ├── 14.pcd │ │ │ ├── 15.pcd │ │ │ ├── 16.pcd │ │ │ ├── 17.pcd │ │ │ ├── 18.pcd │ │ │ ├── 19.pcd │ │ │ ├── 2.pcd │ │ │ ├── 20.pcd │ │ │ ├── 21.pcd │ │ │ ├── 22.pcd │ │ │ ├── 23.pcd │ │ │ ├── 24.pcd │ │ │ ├── 25.pcd │ │ │ ├── 26.pcd │ │ │ ├── 27.pcd │ │ │ ├── 28.pcd │ │ │ ├── 29.pcd │ │ │ ├── 3.pcd │ │ │ ├── 30.pcd │ │ │ ├── 31.pcd │ │ │ ├── 32.pcd │ │ │ ├── 4.pcd │ │ │ ├── 5.pcd │ │ │ ├── 6.pcd │ │ │ ├── 7.pcd │ │ │ ├── 8.pcd │ │ │ └── 9.pcd │ ├── data_xml_process_Baseline_withlabel.py │ ├── dataloader_grasptype.py │ ├── grasp_33_angles_new.npy │ ├── hand_keypoint.npy │ ├── j_p_open.npy │ ├── mano │ │ └── readme.md │ ├── mano_m │ │ ├── __init__.py │ │ ├── joints_info.py │ │ ├── lbs.py │ │ ├── model.py │ │ ├── readme.md │ │ └── utils.py │ ├── manopth │ │ └── readme.md │ ├── map_to_shadow.py │ ├── model_classify_grasp.py │ ├── networks.py │ ├── pointnet_utils.py │ ├── provider.py │ ├── shadow.npy │ ├── shadow_keypoints_new.npy │ ├── show_grasps.py │ ├── taxonomy.npy │ └── train_ik_model.py ├── labeled_data2 │ └── use │ │ └── about_grasp │ │ ├── 0.002_s420_465-100_ex-True_seg-True_train_record-is111111-new_withlabelgrasp-expanded-100-unsampled.pkl │ │ └── download.md └── result_xml │ └── 3grasptype │ ├── epoch0.xml │ ├── epoch1.xml │ ├── epoch10.xml │ ├── epoch11.xml │ ├── epoch12.xml │ ├── epoch13.xml │ ├── epoch14.xml │ ├── epoch15.xml │ ├── epoch16.xml │ ├── epoch17.xml │ ├── epoch18.xml │ ├── epoch19.xml │ ├── epoch2.xml │ ├── epoch20.xml │ ├── epoch21.xml │ ├── epoch22.xml │ ├── epoch23.xml │ ├── epoch24.xml │ ├── epoch25.xml │ ├── epoch26.xml │ ├── epoch27.xml │ ├── epoch28.xml │ ├── epoch29.xml │ ├── epoch3.xml │ ├── epoch30.xml │ ├── epoch31.xml │ 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