├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── assets ├── allegro_hand_description │ ├── README.md │ ├── allegro_hand_description_right.urdf │ ├── allegro_hand_description_right_with_virtual_joints.urdf │ ├── contact_points_precision_grasp.json │ ├── 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 │ └── penetration_points.json ├── box │ └── meshes │ │ └── box.obj ├── leap_hand_simplified │ ├── README.md │ ├── contact_points_precision_grasp.json │ ├── leap_hand_right.urdf │ ├── leap_hand_right_with_virtual_joints.urdf │ ├── meshes │ │ ├── collision │ │ │ ├── thumb_tip_simplified.obj │ │ │ ├── tip_simplified.obj │ │ │ ├── white_tip.obj │ │ │ └── white_tip_thumb.obj │ │ └── visual │ │ │ ├── dip.glb │ │ │ ├── dip.mtl │ │ │ ├── dip.obj │ │ │ ├── fingertip.glb │ │ │ ├── fingertip.mtl │ │ │ ├── fingertip.obj │ │ │ ├── mcp_joint.glb │ │ │ ├── mcp_joint.mtl │ │ │ ├── mcp_joint.obj │ │ │ ├── palm_lower.glb │ │ │ ├── palm_lower.mtl │ │ │ ├── palm_lower.obj │ │ │ ├── palm_lower_left.glb │ │ │ ├── palm_lower_left.mtl │ │ │ ├── palm_lower_left.obj │ │ │ ├── pip.glb │ │ │ ├── pip.mtl │ │ │ ├── pip.obj │ │ │ ├── pip_left.glb │ │ │ ├── pip_left.mtl │ │ │ ├── pip_left.obj │ │ │ ├── thumb_dip.glb │ │ │ ├── thumb_dip.mtl │ │ │ ├── thumb_dip.obj │ │ │ ├── thumb_fingertip.glb │ │ │ ├── thumb_fingertip.mtl │ │ │ ├── thumb_fingertip.obj │ │ │ ├── thumb_pip.glb │ │ │ ├── thumb_pip.mtl │ │ │ └── thumb_pip.obj │ └── penetration_points.json └── table │ ├── table.obj │ ├── table.urdf │ └── wood.png ├── docs ├── additional_details.md ├── custom_hand.md ├── dataset_generation.md ├── download.md ├── grasp_motion_planning.md ├── grasp_planning.md ├── installation.md ├── model_training.md └── visualization.md ├── get_a_grip ├── __init__.py ├── dataset_generation │ ├── __init__.py │ ├── sanity_check │ │ ├── __init__.py │ │ ├── sanity_check_nerfcheckpoints.py │ │ ├── sanity_check_nerfdata.py │ │ └── sanity_check_point_clouds.py │ ├── scripts │ │ ├── __init__.py │ │ ├── augment_grasp_config_dicts.py │ │ ├── eval_all_grasp_config_dicts.py │ │ ├── eval_grasp_config_dict.py │ │ ├── generate_allegro_contact_points_precision_grasp.py │ │ ├── generate_grasp_config_dicts.py │ │ ├── generate_hand_config_dicts.py │ │ ├── generate_leap_contact_points_precision_grasp.py │ │ ├── generate_nerfdata.py │ │ ├── generate_nerfdata_one_object_one_scale.py │ │ ├── generate_object_code_and_scales_txt.py │ │ ├── generate_point_clouds.py │ │ ├── merge_evaled_grasp_config_dicts.py │ │ ├── train_nerfs.py │ │ └── visualize_progress_bar.py │ └── utils │ │ ├── __init__.py │ │ ├── allegro_hand_info.py │ │ ├── energy.py │ │ ├── hand_model.py │ │ ├── initializations.py │ │ ├── isaac_validator.py │ │ ├── joint_angle_targets.py │ │ ├── leap_hand_info.py │ │ ├── object_model.py │ │ ├── optimizer.py │ │ ├── pose_conversion.py │ │ ├── process_utils.py │ │ ├── quaternions.py │ │ ├── rot6d.py │ │ └── torch_quat_utils.py ├── grasp_motion_planning │ ├── __init__.py │ ├── real_eval_scripts │ │ ├── __init__.py │ │ ├── run_bps_sampler_bps_evaluator.py │ │ └── run_fixed_sampler_nerf_evaluator.py │ ├── scripts │ │ ├── __init__.py │ │ ├── debug_robot_collision_spheres.py │ │ ├── run_frogger_grasp_motion_planning.py │ │ └── run_grasp_motion_planning.py │ ├── sim_eval_scripts │ │ ├── __init__.py │ │ ├── run_bps_sampler_bps_evaluator.py │ │ └── run_fixed_sampler_nerf_evaluator.py │ └── utils │ │ ├── __init__.py │ │ ├── fk.py │ │ ├── grasp_motion_planner.py │ │ ├── ik.py │ │ ├── joint_limit_utils.py │ │ ├── pybullet_utils.py │ │ ├── trajopt.py │ │ ├── trajopt_batch.py │ │ ├── visualizer.py │ │ └── world.py ├── grasp_planning │ ├── __init__.py │ ├── config │ │ ├── __init__.py │ │ ├── evaluator_config.py │ │ ├── optimizer_config.py │ │ ├── planner_config.py │ │ └── sampler_config.py │ ├── nerf_conversions │ │ ├── __init__.py │ │ ├── nerf_to_bps.py │ │ ├── nerf_to_mesh.py │ │ ├── nerf_to_urdf.py │ │ ├── nerf_to_urdf_all.py │ │ ├── visualize_mesh.py │ │ └── visualize_mesh_compare_to_original.py │ ├── scripts │ │ ├── __init__.py │ │ ├── create_fixed_sampler_grasp_config_dict.py │ │ ├── run_frogger_grasp_planning.py │ │ └── run_grasp_planning.py │ ├── sim_eval_scripts │ │ ├── __init__.py │ │ ├── run_bps_sampler.py │ │ ├── run_bps_sampler_bps_evaluator.py │ │ ├── run_bps_sampler_nerf_evaluator.py │ │ ├── run_fixed_sampler.py │ │ ├── run_fixed_sampler_bps_evaluator.py │ │ ├── run_fixed_sampler_nerf_evaluator.py │ │ ├── run_frogger.py │ │ └── test_object_code_and_scales.txt │ └── utils │ │ ├── __init__.py │ │ ├── allegro_grasp_config.py │ │ ├── evaluator.py │ │ ├── frames.py │ │ ├── frogger_utils.py │ │ ├── joint_limit_utils.py │ │ ├── nerf_args.py │ │ ├── nerf_input.py │ │ ├── nerfstudio_point_cloud.py │ │ ├── optimizer.py │ │ ├── planner.py │ │ ├── sampler.py │ │ ├── sort_grasps.py │ │ └── visualize_frames.py ├── model_training │ ├── __init__.py │ ├── config │ │ ├── __init__.py │ │ ├── datetime_str.py │ │ ├── diffusion_config.py │ │ ├── fingertip_config.py │ │ ├── nerf_densities_global_config.py │ │ ├── nerf_evaluator_model_config.py │ │ ├── nerf_grasp_dataset_config.py │ │ └── wandb_config.py │ ├── models │ │ ├── __init__.py │ │ ├── bps_evaluator_model.py │ │ ├── bps_sampler_model.py │ │ ├── components │ │ │ ├── fc_resblock.py │ │ │ ├── layers.py │ │ │ └── models.py │ │ ├── nerf_evaluator_model.py │ │ └── nerf_sampler_model.py │ ├── scripts │ │ ├── __init__.py │ │ ├── create_bps_grasp_dataset.py │ │ ├── create_nerf_grasp_dataset.py │ │ ├── create_train_val_test_split.py │ │ ├── train_bps_evaluator_model.py │ │ ├── train_bps_sampler_model.py │ │ ├── train_nerf_evaluator_model.py │ │ ├── train_nerf_sampler_model.py │ │ ├── visualize_bps_grasp_dataset.py │ │ ├── visualize_bps_models.py │ │ ├── visualize_nerf_evaluator_model.py │ │ ├── visualize_nerf_grasp_dataset.py │ │ └── visualize_nerf_grasp_dataset_v2.py │ └── utils │ │ ├── __init__.py │ │ ├── bps_grasp_dataset.py │ │ ├── diffusion.py │ │ ├── nerf_evaluator_model_batch_data.py │ │ ├── nerf_grasp_dataset.py │ │ ├── nerf_grasp_evaluator_dataset.py │ │ ├── nerf_ray_utils.py │ │ ├── nerf_utils.py │ │ ├── plot_utils.py │ │ └── scheduler.py ├── utils │ ├── __init__.py │ ├── download.py │ ├── generate_point_cloud.py │ ├── nerf_load_utils.py │ ├── parse_object_code_and_scale.py │ ├── point_utils.py │ ├── seed.py │ ├── setup_zsh_tab_completion.py │ └── train_nerf.py └── visualization │ ├── __init__.py │ ├── scripts │ ├── __init__.py │ ├── visualize_config_dict.py │ ├── visualize_config_dict_optimization.py │ ├── visualize_hand_model.py │ ├── visualize_object_model.py │ ├── visualize_objs.py │ ├── visualize_objs_in_isaacgym.py │ ├── visualize_objs_plt.py │ └── 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