├── .gitignore ├── DIF_decoder ├── calculate_chamfer_distance.py ├── configs │ ├── eval │ │ ├── bottle.yml │ │ ├── bowl.yml │ │ └── mug.yml │ ├── generate │ │ ├── bottle.yml │ │ ├── bowl.yml │ │ └── mug.yml │ └── train │ │ ├── bottle.yml │ │ ├── bowl.yml │ │ └── mug.yml ├── dataset.py ├── dif_net.py ├── evaluate.py ├── generate.py ├── generate_template.py ├── loss.py ├── meta_modules.py ├── modules.py ├── sdf_meshing.py ├── split │ ├── eval │ │ ├── bottle.txt │ │ ├── bowl.txt │ │ └── mug.txt │ └── train │ │ ├── bottle.txt │ │ ├── bowl.txt │ │ └── mug.txt ├── train.py ├── training_loop.py └── utils.py ├── LICENSE ├── README.md ├── grasp_transfer ├── RT_to_g.py ├── assets │ └── fat_hand_part.npz ├── main.py ├── refine_main.py ├── refine_module.py ├── refine_template.py ├── transfer_main.py └── transfer_to_template.py ├── isaac_sim ├── sim_all_objects_best_grasp.py ├── sim_one_object_all_grasps.py └── source_grasp_filter.py ├── pic └── overview_of_TransGrasp.png ├── pose_estimator ├── assets │ └── mean_points_emb.npy ├── data.py ├── eval.py ├── loss.py ├── model.py ├── train.py └── utils.py ├── preprocess ├── augment_object_meshes.py ├── generate_SDFs.py ├── render_depth_images.py ├── transform_source_meshes.py └── write_model_points.py ├── raw_obj_splits ├── bottle_eval.txt ├── bottle_train.txt ├── bowl_eval.txt ├── bowl_train.txt ├── mug_eval.txt └── mug_train.txt ├── requirements.txt ├── scripts ├── preprocess_data.sh ├── preprocess_data_eval.sh ├── preprocess_source_grasps.sh ├── run_ablations.sh └── test_all_grasps.sh ├── shape_encoder ├── data.py ├── generate.py ├── model.py ├── train.py └── write_gt_codes.py └── tools └── utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yanjh97/TransGrasp/HEAD/.gitignore -------------------------------------------------------------------------------- /DIF_decoder/calculate_chamfer_distance.py: 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