├── .gitignore ├── LICENSE ├── README.md ├── assets ├── images │ ├── cgf-retargeting.gif │ ├── cgf-sampling.gif │ └── interpolation.jpg ├── misc │ ├── cube.obj │ └── table_map.jpg ├── robot │ ├── allegro_hand_description │ │ ├── allegro_hand_free.urdf │ │ └── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link_left.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 │ │ │ └── modified_tip.STL │ └── xarm6_description │ │ ├── meshes │ │ ├── base.stl │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ └── link6.stl │ │ ├── xarm6.urdf │ │ ├── xarm6_allegro.urdf │ │ ├── xarm6_allegro_wrist_mounted.urdf │ │ ├── xarm6_allegro_wrist_mounted_modified_finger.urdf │ │ ├── xarm6_allegro_wrist_mounted_rotate.urdf │ │ └── xarm6_shadow.urdf └── ycb │ ├── collision │ ├── 002_master_chef_can │ │ └── collision.obj │ ├── 004_sugar_box │ │ └── collision.obj │ ├── 005_tomato_soup_can │ │ └── collision.obj │ ├── 006_mustard_bottle │ │ └── collision.obj │ ├── 010_potted_meat_can │ │ └── collision.obj │ ├── 011_banana │ │ └── collision.obj │ ├── 019_pitcher_base │ │ └── collision.obj │ ├── 021_bleach_cleanser │ │ └── collision.obj │ ├── 024_bowl │ │ └── collision.obj │ ├── 025_mug │ │ └── collision.obj │ ├── 035_power_drill │ │ └── collision.obj │ ├── 051_large_clamp │ │ └── collision.obj │ ├── 061_foam_brick │ │ └── collision.obj │ └── 100_ball │ │ └── collision.obj │ └── visual │ ├── 002_master_chef_can │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 003_cracker_box │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 004_sugar_box │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 005_tomato_soup_can │ ├── texture_map.png │ ├── textured_simple.obj │ ├── textured_simple.obj.mtl │ └── textured_simple.stl │ ├── 006_mustard_bottle │ ├── texture_map.png │ ├── textured_simple.obj │ ├── textured_simple.obj.mtl │ └── textured_simple.stl │ ├── 010_potted_meat_can │ ├── texture_map.png │ ├── textured_simple.obj │ ├── textured_simple.obj.mtl │ └── textured_simple.stl │ ├── 011_banana │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 019_pitcher_base │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 021_bleach_cleanser │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 024_bowl │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 025_mug │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 035_power_drill │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 051_large_clamp │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ ├── 061_foam_brick │ ├── texture_map.png │ ├── textured_simple.obj │ └── textured_simple.obj.mtl │ └── 100_ball │ └── texture_simple.obj ├── cgf ├── __init__.py ├── data.py ├── models.py ├── robotics.py └── transformation.py ├── data ├── .gitignore ├── geometry │ └── allegro_hand │ │ ├── right_dense_geo.npz │ │ └── right_simple_geo.npz ├── mano_v1_2_models │ ├── LICENSE.txt │ ├── MANO_LEFT.pkl │ ├── MANO_RIGHT.pkl │ └── info.txt └── original_robot │ └── allegro_hand_ros │ └── allegro_hand_description │ ├── allegro_hand_description_left.urdf │ └── allegro_hand_description_right.urdf ├── hand_teleop ├── __init__.py ├── env │ ├── rl_env │ │ ├── base.py │ │ ├── mug_flip_env.py │ │ ├── pc_processing.py │ │ ├── relocate_env.py │ │ └── table_door_env.py │ └── sim_env │ │ ├── base.py │ │ ├── constructor.py │ │ ├── cooking_env.py │ │ ├── dispenser_env.py │ │ ├── door_env.py │ │ ├── drawer_fetch_object_env.py │ │ ├── fetch_water_env.py │ │ ├── knife_env.py │ │ ├── lighter_env.py │ │ ├── mug_flip_env.py │ │ ├── plier_env.py │ │ ├── qualcomm_pr_env.py │ │ ├── relocate_env.py │ │ ├── stapler_env.py │ │ ├── table_door_env.py │ │ └── wrench_using_env.py ├── kinematics │ ├── __init__.py │ ├── canonical_hand_joints.npy │ ├── faces.npy │ ├── kinematics_helper.py │ ├── mano_robot_hand.py │ ├── optimizer.py │ └── retargeting_optimizer.py ├── player │ ├── batch_play.py │ ├── player.py │ ├── player_temp.py │ └── recorder.py ├── real_world │ ├── __init__.py │ ├── lab.py │ ├── lab_door.py │ └── task_setting.py ├── teleop │ ├── __init__.py │ └── teleop_gui.py └── utils │ ├── __init__.py │ ├── camera_utils.py │ ├── common_robot_utils.py │ ├── mesh_utils.py │ ├── model_utils.py │ ├── physical_scene_utils.py │ ├── pose_utils.py │ ├── random_utils.py │ ├── render_scene_utils.py │ ├── viewer_annotation_utils.py │ ├── viewer_utils.py │ └── ycb_object_utils.py ├── pyproject.toml └── 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