├── .gitignore ├── CODE_OF_CONDUCT.md ├── LICENSE ├── README.md ├── assets └── README.md ├── conda_env ├── conda_py38.yml └── conda_py39.yml ├── demo.py ├── lygra ├── __init__.py ├── batch_grasp_optimizer.py ├── bvh_s2bundle.py ├── contact │ └── accel │ │ └── lbvh_s2bundle.py ├── contact_field.py ├── contact_set.py ├── cpp │ └── README.md ├── kinematics.py ├── memory.py ├── mesh.py ├── mesh_analyzer.py ├── pipeline │ └── module │ │ ├── collision.py │ │ ├── contact_collection.py │ │ ├── contact_optimization.py │ │ ├── contact_query.py │ │ ├── kinematics.py │ │ ├── object_placement.py │ │ └── postprocess.py ├── robot │ ├── __init__.py │ ├── allegro.py │ ├── base.py │ ├── dclaw.py │ ├── leap.py │ ├── shadow.py │ └── tool │ │ └── view_canonical_space.py └── utils │ ├── geom_utils.py │ ├── robot_visualizer.py │ ├── save_utils.py │ ├── transform_utils.py │ └── vis_utils.py ├── misc ├── output.png └── teaser.png └── setup.py /.gitignore: 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