├── .gitignore ├── .style.yapf ├── LICENSE ├── README.md ├── mano_grasp ├── __init__.py ├── generate_grasps.py ├── grasp_miner.py ├── grasp_utils.py ├── graspit_process.py ├── graspit_scene.py ├── kinematics.py └── math_utils.py ├── models └── ManoHand │ ├── ManoHand.xml │ ├── ManoHand_v2.xml │ ├── ManoHand_v3.xml │ ├── cyberglove │ ├── calibration_best_aa.txt │ └── calibration_best_no_dip_aa.txt │ ├── eigen │ ├── human_eigen.xml │ ├── human_eigen_cgdb.xml │ ├── human_eigen_cgdb_refined.xml │ ├── human_eigen_nodip.xml │ └── human_eigen_torques.xml │ ├── iv │ ├── index1.wrl │ ├── index1.xml │ ├── index2.wrl │ ├── index2.xml │ ├── index3.wrl │ ├── index3.xml │ ├── mid1.wrl │ ├── mid1.xml │ ├── mid2.wrl │ ├── mid2.xml │ ├── mid3.wrl │ ├── mid3.xml │ ├── palm.wrl │ ├── palm.xml │ ├── pinky1.wrl │ ├── pinky1.xml │ ├── pinky2.wrl │ ├── pinky2.xml │ ├── pinky3.wrl │ ├── pinky3.xml │ ├── ring1.wrl │ ├── ring1.xml │ ├── ring2.wrl │ ├── ring2.xml │ ├── ring3.wrl │ ├── ring3.xml │ ├── thumb1.wrl │ ├── thumb1.xml │ ├── thumb2.wrl │ ├── thumb2.xml │ ├── thumb3.wrl │ └── thumb3.xml │ ├── kinematics.json │ └── virtual │ └── all_18_contacts_16DOF.xml ├── requirements.txt └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/.gitignore -------------------------------------------------------------------------------- /.style.yapf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/.style.yapf -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/README.md -------------------------------------------------------------------------------- /mano_grasp/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /mano_grasp/generate_grasps.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/mano_grasp/generate_grasps.py -------------------------------------------------------------------------------- /mano_grasp/grasp_miner.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/mano_grasp/grasp_miner.py -------------------------------------------------------------------------------- /mano_grasp/grasp_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/mano_grasp/grasp_utils.py -------------------------------------------------------------------------------- /mano_grasp/graspit_process.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/mano_grasp/graspit_process.py -------------------------------------------------------------------------------- /mano_grasp/graspit_scene.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/mano_grasp/graspit_scene.py -------------------------------------------------------------------------------- /mano_grasp/kinematics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/mano_grasp/kinematics.py -------------------------------------------------------------------------------- /mano_grasp/math_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/mano_grasp/math_utils.py -------------------------------------------------------------------------------- /models/ManoHand/ManoHand.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/ManoHand.xml -------------------------------------------------------------------------------- /models/ManoHand/ManoHand_v2.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/ManoHand_v2.xml -------------------------------------------------------------------------------- /models/ManoHand/ManoHand_v3.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/ManoHand_v3.xml -------------------------------------------------------------------------------- /models/ManoHand/cyberglove/calibration_best_aa.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/cyberglove/calibration_best_aa.txt -------------------------------------------------------------------------------- /models/ManoHand/cyberglove/calibration_best_no_dip_aa.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/cyberglove/calibration_best_no_dip_aa.txt -------------------------------------------------------------------------------- /models/ManoHand/eigen/human_eigen.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/eigen/human_eigen.xml -------------------------------------------------------------------------------- /models/ManoHand/eigen/human_eigen_cgdb.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/eigen/human_eigen_cgdb.xml -------------------------------------------------------------------------------- /models/ManoHand/eigen/human_eigen_cgdb_refined.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/eigen/human_eigen_cgdb_refined.xml -------------------------------------------------------------------------------- /models/ManoHand/eigen/human_eigen_nodip.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/eigen/human_eigen_nodip.xml -------------------------------------------------------------------------------- /models/ManoHand/eigen/human_eigen_torques.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/eigen/human_eigen_torques.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/index1.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/index1.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/index1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/index1.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/index2.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/index2.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/index2.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/index2.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/index3.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/index3.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/index3.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/index3.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/mid1.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/mid1.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/mid1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/mid1.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/mid2.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/mid2.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/mid2.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/mid2.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/mid3.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/mid3.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/mid3.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/mid3.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/palm.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/palm.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/palm.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/palm.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/pinky1.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/pinky1.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/pinky1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/pinky1.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/pinky2.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/pinky2.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/pinky2.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/pinky2.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/pinky3.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/pinky3.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/pinky3.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/pinky3.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/ring1.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/ring1.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/ring1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/ring1.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/ring2.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/ring2.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/ring2.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/ring2.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/ring3.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/ring3.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/ring3.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/ring3.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/thumb1.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/thumb1.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/thumb1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/thumb1.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/thumb2.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/thumb2.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/thumb2.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/thumb2.xml -------------------------------------------------------------------------------- /models/ManoHand/iv/thumb3.wrl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/thumb3.wrl -------------------------------------------------------------------------------- /models/ManoHand/iv/thumb3.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/iv/thumb3.xml -------------------------------------------------------------------------------- /models/ManoHand/kinematics.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/kinematics.json -------------------------------------------------------------------------------- /models/ManoHand/virtual/all_18_contacts_16DOF.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/models/ManoHand/virtual/all_18_contacts_16DOF.xml -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | numpy 2 | transforms3d 3 | joblib -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ikalevatykh/mano_grasp/HEAD/setup.py --------------------------------------------------------------------------------