├── .gitignore ├── .pre-commit-config.yaml ├── README.md ├── assets ├── .gitkeep ├── shadow_robot │ ├── shadow_hand_left.urdf │ ├── shadow_hand_left.xacro │ ├── shadow_hand_right.urdf │ ├── shadow_hand_right.xacro │ ├── sr_description │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── blender │ │ │ ├── BlenderHandTutoComments.png │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ └── shadowhand_right.blend │ │ ├── doc │ │ │ ├── HandInertia.md │ │ │ └── img │ │ │ │ ├── dexterous_hand_reference_frames.png │ │ │ │ └── palm_very_small.png │ │ ├── hand │ │ │ ├── config │ │ │ │ ├── hand_controller_gazebo.yaml │ │ │ │ ├── hand_effort_controller_gazebo.yaml │ │ │ │ ├── hand_mixed_controller_gazebo.yaml │ │ │ │ ├── lh_controller_gazebo.yaml │ │ │ │ ├── lh_effort_controller_gazebo.yaml │ │ │ │ ├── lh_grasp_controller_gazebo.yaml │ │ │ │ ├── lh_hybrid_controller_gazebo.yaml │ │ │ │ ├── lh_lite_grasp_controller_gazebo.yaml │ │ │ │ ├── lh_mixed_controller_gazebo.yaml │ │ │ │ ├── lh_variable_pid_controller_gazebo.yaml │ │ │ │ ├── rh_controller_gazebo.yaml │ │ │ │ ├── rh_effort_controller_gazebo.yaml │ │ │ │ ├── rh_grasp_controller_gazebo.yaml │ │ │ │ ├── rh_hybrid_controller_gazebo.yaml │ │ │ │ ├── rh_lite_grasp_controller_gazebo.yaml │ │ │ │ ├── rh_mixed_controller_gazebo.yaml │ │ │ │ └── rh_variable_pid_controller_gazebo.yaml │ │ │ └── xacro │ │ │ │ ├── finger │ │ │ │ ├── distal │ │ │ │ │ ├── distal.gazebo.xacro │ │ │ │ │ ├── distal.transmission.xacro │ │ │ │ │ └── distal.urdf.xacro │ │ │ │ ├── fingers.urdf.xacro │ │ │ │ ├── knuckle │ │ │ │ │ ├── knuckle.gazebo.xacro │ │ │ │ │ ├── knuckle.transmission.xacro │ │ │ │ │ └── knuckle.urdf.xacro │ │ │ │ ├── lfmetacarpal │ │ │ │ │ ├── lfmetacarpal.gazebo.xacro │ │ │ │ │ ├── lfmetacarpal.transmission.xacro │ │ │ │ │ └── lfmetacarpal.urdf.xacro │ │ │ │ ├── middle │ │ │ │ │ ├── middle.gazebo.xacro │ │ │ │ │ ├── middle.transmission.xacro │ │ │ │ │ ├── middle.urdf.xacro │ │ │ │ │ └── middle_and_distal_bt_2p.urdf.xacro │ │ │ │ └── proximal │ │ │ │ │ ├── proximal.gazebo.xacro │ │ │ │ │ ├── proximal.transmission.xacro │ │ │ │ │ └── proximal.urdf.xacro │ │ │ │ ├── forearm │ │ │ │ ├── forearm_c.urdf.xacro │ │ │ │ ├── forearm_e.urdf.xacro │ │ │ │ └── forearm_g.urdf.xacro │ │ │ │ ├── hand.urdf.xacro │ │ │ │ ├── hand_c.urdf.xacro │ │ │ │ ├── hand_e.urdf.xacro │ │ │ │ ├── hand_g.urdf.xacro │ │ │ │ ├── palm │ │ │ │ ├── imu.urdf.xacro │ │ │ │ ├── palm.gazebo.xacro │ │ │ │ ├── palm.transmission.xacro │ │ │ │ ├── palm_e.urdf.xacro │ │ │ │ └── palm_g.urdf.xacro │ │ │ │ ├── process_fingers_parameter.xacro │ │ │ │ ├── process_hand_type_version_side_parameters.xacro │ │ │ │ ├── process_sensor_parameters.xacro │ │ │ │ ├── thumb │ │ │ │ ├── thbase.gazebo.xacro │ │ │ │ ├── thbase.transmission.xacro │ │ │ │ ├── thbase.urdf.xacro │ │ │ │ ├── thdistal.gazebo.xacro │ │ │ │ ├── thdistal.transmission.xacro │ │ │ │ ├── thdistal.urdf.xacro │ │ │ │ ├── thhub.gazebo.xacro │ │ │ │ ├── thhub.transmission.xacro │ │ │ │ ├── thhub.urdf.xacro │ │ │ │ ├── thmiddle.gazebo.xacro │ │ │ │ ├── thmiddle.transmission.xacro │ │ │ │ ├── thmiddle.urdf.xacro │ │ │ │ ├── thproximal.gazebo.xacro │ │ │ │ ├── thproximal.transmission.xacro │ │ │ │ ├── thproximal.urdf.xacro │ │ │ │ └── thumb.urdf.xacro │ │ │ │ ├── validate_macros.xacro │ │ │ │ └── wrist │ │ │ │ ├── wrist.transmission.xacro │ │ │ │ └── wrist.urdf.xacro │ │ ├── loaders │ │ │ └── load_hand_model.launch │ │ ├── meshes │ │ │ └── components │ │ │ │ ├── cable_connector │ │ │ │ ├── cable_connector_base_E3M5.dae │ │ │ │ ├── cable_connector_base_E3M5_up_axis.npy │ │ │ │ ├── cable_connector_palm_E3M5.dae │ │ │ │ └── cable_connector_palm_E3M5_up_axis.npy │ │ │ │ ├── contact │ │ │ │ ├── f_distal_back.dae │ │ │ │ ├── f_distal_contact_front.dae │ │ │ │ ├── f_distal_pst_diff.obj │ │ │ │ ├── f_middle_back.dae │ │ │ │ ├── f_middle_contact_front.dae │ │ │ │ ├── f_proximal_back.dae │ │ │ │ ├── f_proximal_contact_front.dae │ │ │ │ ├── middle_contact.stl │ │ │ │ ├── proximal_contact.stl │ │ │ │ ├── th_distal_back.dae │ │ │ │ ├── th_distal_contact.dae │ │ │ │ ├── th_distal_contact_front.dae │ │ │ │ ├── th_middle_back.dae │ │ │ │ ├── th_middle_contact_front.dae │ │ │ │ └── thmiddle_contact.stl │ │ │ │ ├── f_distal │ │ │ │ ├── bt_2p │ │ │ │ │ ├── f_distal_bt_2p.dae │ │ │ │ │ └── f_distal_bt_2p_adapter.dae │ │ │ │ ├── bt_sp │ │ │ │ │ └── f_distal_bt_sp.dae │ │ │ │ └── pst │ │ │ │ │ ├── f_distal_pst.dae │ │ │ │ │ └── f_distal_pst_up_axis.npy │ │ │ │ ├── f_knuckle │ │ │ │ ├── f_knuckle_C6M2.dae │ │ │ │ ├── f_knuckle_E2M3.dae │ │ │ │ ├── f_knuckle_E3M5.dae │ │ │ │ ├── f_knuckle_E4.dae │ │ │ │ └── f_knuckle_G1M5.dae │ │ │ │ ├── f_middle │ │ │ │ ├── f_middle_C6M2.dae │ │ │ │ ├── f_middle_E2M3.dae │ │ │ │ ├── f_middle_E3M5.dae │ │ │ │ ├── f_middle_E4.dae │ │ │ │ └── f_middle_G1M5.dae │ │ │ │ ├── f_proximal │ │ │ │ ├── f_proximal_C6M2.dae │ │ │ │ ├── f_proximal_E2M3.dae │ │ │ │ ├── f_proximal_E3M5.dae │ │ │ │ ├── f_proximal_E4.dae │ │ │ │ └── f_proximal_G1M5.dae │ │ │ │ ├── forearm │ │ │ │ ├── forearm_C6M2.dae │ │ │ │ ├── forearm_E2M3.dae │ │ │ │ ├── forearm_E3M5.dae │ │ │ │ ├── forearm_E3M5_up_axis.npy │ │ │ │ ├── forearm_E4.dae │ │ │ │ ├── forearm_G1M5.dae │ │ │ │ ├── forearm_collision_C6M2.dae │ │ │ │ ├── forearm_collision_E2M3.dae │ │ │ │ ├── forearm_collision_E3M5.dae │ │ │ │ ├── forearm_collision_E3M5_up_axis.npy │ │ │ │ └── forearm_collision_E4.dae │ │ │ │ ├── lf_metacarpal │ │ │ │ ├── lf_metacarpal_C6M2.dae │ │ │ │ ├── lf_metacarpal_E2M3.dae │ │ │ │ ├── lf_metacarpal_E3M5.dae │ │ │ │ └── lf_metacarpal_E4.dae │ │ │ │ ├── mounting_plate │ │ │ │ ├── mounting_plate_E3M5.dae │ │ │ │ ├── mounting_plate_E3M5_up_axis.npy │ │ │ │ ├── mounting_plate_E4.dae │ │ │ │ └── mounting_plate_G1M5.dae │ │ │ │ ├── palm │ │ │ │ ├── palm_C6M2.dae │ │ │ │ ├── palm_E2M3.dae │ │ │ │ ├── palm_E3M5.dae │ │ │ │ ├── palm_E3M5_up_axis.npy │ │ │ │ ├── palm_E4.dae │ │ │ │ └── palm_G1M5.dae │ │ │ │ ├── th_distal │ │ │ │ ├── bt_2p │ │ │ │ │ ├── th_distal_bt_2p.dae │ │ │ │ │ └── th_distal_bt_2p_adapter.dae │ │ │ │ ├── bt_sp │ │ │ │ │ └── th_distal_bt_sp.dae │ │ │ │ └── pst │ │ │ │ │ ├── th_distal_pst.dae │ │ │ │ │ └── th_distal_pst_up_axis.npy │ │ │ │ ├── th_middle │ │ │ │ ├── th_middle_C6M2.dae │ │ │ │ ├── th_middle_E2M3.dae │ │ │ │ ├── th_middle_E3M5.dae │ │ │ │ ├── th_middle_E4.dae │ │ │ │ └── th_middle_G1M5.dae │ │ │ │ ├── th_proximal │ │ │ │ ├── th_proximal_C6M2.dae │ │ │ │ ├── th_proximal_E2M3.dae │ │ │ │ ├── th_proximal_E3M5.dae │ │ │ │ ├── th_proximal_E4.dae │ │ │ │ └── th_proximal_G1M5.dae │ │ │ │ └── wrist │ │ │ │ ├── wrist_C6M2.dae │ │ │ │ ├── wrist_E2M3.dae │ │ │ │ ├── wrist_E3M5.dae │ │ │ │ └── wrist_E4.dae │ │ ├── mujoco_models │ │ │ ├── README.md │ │ │ ├── lh_trajectory_controller.yaml │ │ │ ├── meshes │ │ │ │ └── arm_and_hand_meshes │ │ │ │ │ ├── F1.xml │ │ │ │ │ ├── F2.xml │ │ │ │ │ ├── F3.xml │ │ │ │ │ ├── TH1.xml │ │ │ │ │ ├── TH2.xml │ │ │ │ │ ├── TH3.xml │ │ │ │ │ ├── base.xml │ │ │ │ │ ├── collision │ │ │ │ │ ├── F1.stl │ │ │ │ │ ├── TH1.stl │ │ │ │ │ ├── decomposed │ │ │ │ │ │ ├── F2 │ │ │ │ │ │ │ ├── F2_distal.stl │ │ │ │ │ │ │ ├── F2_middle.stl │ │ │ │ │ │ │ └── F2_proximal.stl │ │ │ │ │ │ ├── F3 │ │ │ │ │ │ │ ├── F3_distal.stl │ │ │ │ │ │ │ └── F3_proximal.stl │ │ │ │ │ │ ├── TH2 │ │ │ │ │ │ │ ├── TH2_distal.stl │ │ │ │ │ │ │ ├── TH2_middle.stl │ │ │ │ │ │ │ └── TH2_proximal.stl │ │ │ │ │ │ ├── TH3 │ │ │ │ │ │ │ ├── TH3_distal.stl │ │ │ │ │ │ │ └── TH3_proximal.stl │ │ │ │ │ │ ├── forearm │ │ │ │ │ │ │ ├── forearm.stl │ │ │ │ │ │ │ └── forearm_wrist.stl │ │ │ │ │ │ ├── forearm_plus │ │ │ │ │ │ │ ├── forearm_plus_1.stl │ │ │ │ │ │ │ ├── forearm_plus_2.stl │ │ │ │ │ │ │ ├── forearm_plus_3.stl │ │ │ │ │ │ │ ├── forearm_plus_4.stl │ │ │ │ │ │ │ └── forearm_plus_5.stl │ │ │ │ │ │ ├── lfmetacarpal │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_001.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_002.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_003.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_004.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_005.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_006.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_007.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_008.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_009.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_010.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_011.stl │ │ │ │ │ │ │ ├── lfmetacarpalShape_IndexedFaceSet_012.stl │ │ │ │ │ │ │ ├── lfmetacarpalmetacarpal_001.stl │ │ │ │ │ │ │ ├── lfmetacarpalmetacarpal_002.stl │ │ │ │ │ │ │ └── lfmetacarpalmetacarpal_003.stl │ │ │ │ │ │ ├── palm │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_001.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_002.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_003.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_004.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_005.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_006.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_007.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_008.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_009.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_010.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_011.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_012.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_013.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_014.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_015.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_016.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_017.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_018.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_019.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_020.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_021.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_022.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_023.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_024.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_025.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_026.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_027.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_028.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_029.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_030.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_031.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_032.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_033.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_034.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_035.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_036.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_037.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_038.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_039.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_040.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_041.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_042.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_043.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_044.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_045.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_046.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_047.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_048.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_049.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_050.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_051.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_052.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_053.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_054.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_055.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_056.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_057.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_058.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_059.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_060.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_061.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_062.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_063.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_064.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_065.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_066.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_067.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_068.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_069.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_070.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_071.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_072.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_073.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_074.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_075.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_076.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_077.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_078.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_079.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_080.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_081.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_082.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_083.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_084.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_085.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_086.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_087.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_088.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_089.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_090.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_091.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_092.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_093.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_094.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_095.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_096.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_097.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_098.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_099.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_100.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_101.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_102.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_103.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_104.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_105.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_106.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_107.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_108.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_109.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_110.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_111.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_112.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_113.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_114.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_115.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_116.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_117.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_118.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_119.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_120.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_121.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_122.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_123.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_124.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_125.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_126.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_127.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_128.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_129.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_130.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_131.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_132.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_133.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_134.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_135.stl │ │ │ │ │ │ │ ├── palmShape_IndexedFaceSet_136.stl │ │ │ │ │ │ │ ├── palmff_hinge.stl │ │ │ │ │ │ │ ├── palmlf_palm.stl │ │ │ │ │ │ │ ├── palmlf_palm_top.stl │ │ │ │ │ │ │ ├── palmmf_hinge.stl │ │ │ │ │ │ │ ├── palmrf_hinge.stl │ │ │ │ │ │ │ ├── palmrf_palm.stl │ │ │ │ │ │ │ ├── palmwrist_hinge_right.stl │ │ │ │ │ │ │ └── palmwrist_hinge_right_small.stl │ │ │ │ │ │ └── wrist │ │ │ │ │ │ │ ├── wrist_1.stl │ │ │ │ │ │ │ ├── wrist_2.stl │ │ │ │ │ │ │ ├── wrist_3.stl │ │ │ │ │ │ │ ├── wrist_4.stl │ │ │ │ │ │ │ ├── wrist_5.stl │ │ │ │ │ │ │ ├── wrist_6.stl │ │ │ │ │ │ │ └── wrist_7.stl │ │ │ │ │ └── knuckle.stl │ │ │ │ │ ├── conversion.py │ │ │ │ │ ├── duplicate_geoms │ │ │ │ │ ├── FF1.xml │ │ │ │ │ ├── FF2.xml │ │ │ │ │ ├── FF3.xml │ │ │ │ │ ├── FF_knuckle.xml │ │ │ │ │ ├── LF1.xml │ │ │ │ │ ├── LF2.xml │ │ │ │ │ ├── LF3.xml │ │ │ │ │ ├── LF_knuckle.xml │ │ │ │ │ ├── MF1.xml │ │ │ │ │ ├── MF2.xml │ │ │ │ │ ├── MF3.xml │ │ │ │ │ ├── MF_knuckle.xml │ │ │ │ │ ├── RF1.xml │ │ │ │ │ ├── RF2.xml │ │ │ │ │ ├── RF3.xml │ │ │ │ │ └── RF_knuckle.xml │ │ │ │ │ ├── forearm.xml │ │ │ │ │ ├── forearm_plus.xml │ │ │ │ │ ├── knuckle.xml │ │ │ │ │ ├── lfmetacarpal.xml │ │ │ │ │ ├── palm.xml │ │ │ │ │ ├── visual │ │ │ │ │ ├── F1.stl │ │ │ │ │ ├── F2.stl │ │ │ │ │ ├── F3.stl │ │ │ │ │ ├── TH1_z.stl │ │ │ │ │ ├── TH2_z.stl │ │ │ │ │ ├── TH3_z.stl │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── forearm_body_link.stl │ │ │ │ │ ├── forearm_bottom_link.stl │ │ │ │ │ ├── forearm_lite.stl │ │ │ │ │ ├── forearm_muscle.stl │ │ │ │ │ ├── forearm_muscle_disk.stl │ │ │ │ │ ├── forearm_plus.stl │ │ │ │ │ ├── forearm_top_link.stl │ │ │ │ │ ├── knuckle.stl │ │ │ │ │ ├── lfmetacarpal.stl │ │ │ │ │ ├── mount_link_50_4_M6.stl │ │ │ │ │ ├── mount_link_50_4_M6_col.stl │ │ │ │ │ ├── palm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── upperarm_body.stl │ │ │ │ │ ├── upperarm_bottom_link.stl │ │ │ │ │ ├── upperarm_top_link.stl │ │ │ │ │ ├── wrist.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist1_base.stl │ │ │ │ │ ├── wrist1_link.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ ├── wrist2_base.stl │ │ │ │ │ ├── wrist2_link.stl │ │ │ │ │ ├── wrist3.stl │ │ │ │ │ ├── wrist_base_link.stl │ │ │ │ │ ├── wrist_roll_link.stl │ │ │ │ │ └── wrist_split_link.stl │ │ │ │ │ └── wrist.xml │ │ │ ├── rh_trajectory_controller.yaml │ │ │ ├── robot_ur10_hand_e_model.xml │ │ │ ├── robot_ur10_hand_e_plus_model.xml │ │ │ ├── robot_ur10_model.xml │ │ │ ├── shared_assets.xml │ │ │ ├── shared_assets_left.xml │ │ │ ├── shared_assets_ur10.xml │ │ │ ├── shared_options.xml │ │ │ ├── shared_ur10_options.xml │ │ │ ├── sr_hand_e_environment.xml │ │ │ ├── sr_hand_e_environment_underactuation_test.xml │ │ │ ├── sr_hand_e_left_environment.xml │ │ │ ├── sr_hand_e_left_model.xml │ │ │ ├── sr_hand_e_left_options.xml │ │ │ ├── sr_hand_e_model.xml │ │ │ ├── sr_hand_e_options.xml │ │ │ ├── sr_hand_e_plus_environment.xml │ │ │ ├── sr_hand_e_plus_environment_underactuation_test.xml │ │ │ ├── sr_hand_e_plus_left_environment.xml │ │ │ ├── sr_hand_e_plus_left_model.xml │ │ │ ├── sr_hand_e_plus_model.xml │ │ │ ├── sr_ur_environment.xml │ │ │ ├── sr_ur_hand_e_environment.xml │ │ │ ├── sr_ur_hand_e_plus_environment.xml │ │ │ └── urdfs │ │ │ │ ├── shadowhand_motor.urdf │ │ │ │ ├── shadowhand_motor_left.urdf │ │ │ │ ├── shadowhand_motor_plus.urdf │ │ │ │ ├── shadowhand_motor_plus_left.urdf │ │ │ │ ├── ur10.urdf │ │ │ │ └── ur10_hand.urdf │ │ ├── other │ │ │ └── xacro │ │ │ │ ├── gazebo.urdf.xacro │ │ │ │ └── materials.urdf.xacro │ │ ├── package.xml │ │ ├── robots │ │ │ ├── sr_hand.urdf.xacro │ │ │ └── sr_hand_bimanual.urdf.xacro │ │ └── test │ │ │ ├── README.md │ │ │ ├── copyright_exclusions.cfg │ │ │ ├── test_compatibility.py │ │ │ ├── test_hands.rviz │ │ │ ├── test_hands.sh │ │ │ ├── test_models.launch │ │ │ ├── test_models.sh │ │ │ ├── test_process_fingers_parameter.xacro │ │ │ ├── test_process_sensor_parameters.xacro │ │ │ ├── test_sr_description_urdf.cpp │ │ │ └── test_sr_description_urdf.test │ ├── ur10e_shadow_hand_left.urdf │ ├── ur10e_shadow_hand_left.xacro │ ├── ur10e_shadow_hand_right.urdf │ ├── ur10e_shadow_hand_right.xacro │ ├── ur10e_shadow_hand_right_contact.urdf │ ├── ur10e_shadow_hand_right_contact_append.urdf │ ├── ur10e_shadow_hand_right_contact_fingertip.urdf │ ├── ur10e_shadow_hand_right_vis.urdf │ └── ur_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── ur10 │ │ │ ├── default_kinematics.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── physical_parameters.yaml │ │ │ └── visual_parameters.yaml │ │ ├── ur10e │ │ │ ├── default_kinematics.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── physical_parameters.yaml │ │ │ └── visual_parameters.yaml │ │ ├── ur16e │ │ │ ├── default_kinematics.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── physical_parameters.yaml │ │ │ └── visual_parameters.yaml │ │ ├── ur3 │ │ │ ├── default_kinematics.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── physical_parameters.yaml │ │ │ └── visual_parameters.yaml │ │ ├── ur3e │ │ │ ├── default_kinematics.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── physical_parameters.yaml │ │ │ └── visual_parameters.yaml │ │ ├── ur5 │ │ │ ├── default_kinematics.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── physical_parameters.yaml │ │ │ └── visual_parameters.yaml │ │ └── ur5e │ │ │ ├── default_kinematics.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── physical_parameters.yaml │ │ │ └── visual_parameters.yaml │ │ ├── launch │ │ ├── load_ur.launch │ │ ├── load_ur10.launch │ │ ├── load_ur10e.launch │ │ ├── load_ur16e.launch │ │ ├── load_ur3.launch │ │ ├── load_ur3e.launch │ │ ├── load_ur5.launch │ │ ├── load_ur5e.launch │ │ ├── view_ur10.launch │ │ ├── view_ur10e.launch │ │ ├── view_ur16e.launch │ │ ├── view_ur3.launch │ │ ├── view_ur3e.launch │ │ ├── view_ur5.launch │ │ └── view_ur5e.launch │ │ ├── meshes │ │ ├── ur10 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur10e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── base_up_axis.npy │ │ │ │ ├── forearm.dae │ │ │ │ ├── forearm_up_axis.npy │ │ │ │ ├── shoulder.dae │ │ │ │ ├── shoulder_up_axis.npy │ │ │ │ ├── upperarm.dae │ │ │ │ ├── upperarm_up_axis.npy │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist1_up_axis.npy │ │ │ │ ├── wrist2.dae │ │ │ │ ├── wrist2_up_axis.npy │ │ │ │ ├── wrist3.dae │ │ │ │ └── wrist3_up_axis.npy │ │ ├── ur16e │ │ │ ├── collision │ │ │ │ ├── forearm.stl │ │ │ │ └── upperarm.stl │ │ │ └── visual │ │ │ │ ├── forearm.dae │ │ │ │ └── upperarm.dae │ │ ├── ur3 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur5 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5e │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ │ ├── model.pdf │ │ ├── package.xml │ │ ├── tests │ │ ├── roslaunch_test_ur10.xml │ │ ├── roslaunch_test_ur10e.xml │ │ ├── roslaunch_test_ur16e.xml │ │ ├── roslaunch_test_ur3.xml │ │ ├── roslaunch_test_ur3e.xml │ │ ├── roslaunch_test_ur5.xml │ │ └── roslaunch_test_ur5e.xml │ │ └── urdf │ │ ├── inc │ │ ├── ur10_macro.xacro │ │ ├── ur10e_macro.xacro │ │ ├── ur16e_macro.xacro │ │ ├── ur3_macro.xacro │ │ ├── ur3e_macro.xacro │ │ ├── ur5_macro.xacro │ │ ├── ur5e_macro.xacro │ │ ├── ur_common.xacro │ │ ├── ur_macro.xacro │ │ └── ur_transmissions.xacro │ │ ├── ur.xacro │ │ ├── ur10.xacro │ │ ├── ur10e.xacro │ │ ├── ur16e.xacro │ │ ├── ur3.xacro │ │ ├── ur3e.xacro │ │ ├── ur5.xacro │ │ └── ur5e.xacro └── utils │ └── torch_utils.py ├── cfg ├── .gitkeep ├── config.yaml ├── main.yaml ├── task │ ├── ShadowHandFunctionalManipulationUnderarm.yaml │ └── env │ │ ├── actionSpace │ │ └── default.yaml │ │ ├── actionSpecs │ │ └── default.yaml │ │ ├── observationSpace │ │ ├── state.yaml │ │ └── visual.yaml │ │ └── observationSpecs │ │ ├── default.yaml │ │ └── updated.yaml └── train │ ├── ShadowHandFunctionalManipulationUnderarmDiffusion.yaml │ └── ShadowHandFunctionalManipulationUnderarmPPO.yaml ├── ckpt ├── pointnet_pretrain.pt ├── pose-level-specialist-0.pt ├── pose-level-specialist-1.pt ├── pose-level-specialist-10.pt ├── pose-level-specialist-11.pt ├── pose-level-specialist-12.pt ├── pose-level-specialist-13.pt ├── pose-level-specialist-14.pt ├── pose-level-specialist-15.pt ├── pose-level-specialist-16.pt ├── pose-level-specialist-17.pt ├── pose-level-specialist-18.pt ├── pose-level-specialist-19.pt ├── pose-level-specialist-2.pt ├── pose-level-specialist-3.pt ├── pose-level-specialist-4.pt ├── pose-level-specialist-5.pt ├── pose-level-specialist-6.pt ├── pose-level-specialist-7.pt ├── pose-level-specialist-8.pt └── pose-level-specialist-9.pt ├── collect_expert_demonstration.sh ├── create_expert_dataset.sh ├── data ├── .gitkeep ├── category.npy ├── category_mapping.csv ├── oakink_filtered_metainfo.csv ├── oakink_metainfo.csv ├── oakink_skipcode.csv ├── ori.json ├── pointnet_pretrain_embeddings.csv ├── statistics.csv ├── test_codes.json └── train_codes.json ├── demos ├── dfpg.gif └── pipeline.png ├── eval_diffusion.sh ├── scripts ├── cluster.py ├── create_trajectory_dataset.py ├── pointnet_pretrain.py ├── run_demo_script_pose_level.py ├── run_render_parallel.py ├── run_video_script_pose_level.py ├── split.py ├── test_memmap.py └── visualize_grasping.py ├── src ├── __init__.py ├── algorithms │ ├── DDIM │ │ ├── __init__.py │ │ ├── common │ │ │ └── pytorch_util.py │ │ ├── model │ │ │ ├── bet │ │ │ │ ├── action_ae │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── discretizers │ │ │ │ │ │ └── k_means.py │ │ │ │ ├── latent_generators │ │ │ │ │ ├── latent_generator.py │ │ │ │ │ ├── mingpt.py │ │ │ │ │ └── transformer.py │ │ │ │ ├── libraries │ │ │ │ │ ├── loss_fn.py │ │ │ │ │ └── mingpt │ │ │ │ │ │ ├── LICENSE │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── model.py │ │ │ │ │ │ ├── trainer.py │ │ │ │ │ │ └── utils.py │ │ │ │ └── utils.py │ │ │ ├── common │ │ │ │ ├── dict_of_tensor_mixin.py │ │ │ │ ├── lr_scheduler.py │ │ │ │ ├── module_attr_mixin.py │ │ │ │ ├── normalizer.py │ │ │ │ ├── rotation_transformer.py │ │ │ │ ├── shape_util.py │ │ │ │ └── tensor_util.py │ │ │ ├── diffusion │ │ │ │ ├── conditional_unet1d.py │ │ │ │ ├── conv1d_components.py │ │ │ │ ├── ema_model.py │ │ │ │ ├── mask_generator.py │ │ │ │ ├── positional_embedding.py │ │ │ │ └── transformer_for_diffusion.py │ │ │ └── vision │ │ │ │ ├── crop_randomizer.py │ │ │ │ ├── model_getter.py │ │ │ │ └── multi_image_obs_encoder.py │ │ └── policy │ │ │ ├── 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