Ckpt Models & Data

• ckpt.zip should extract into ckpt/ folder:

ckpt
├── model
│   ├── model_3robots_partial.pth
│   ├── model_3robots.pth
│   ├── model_allegro.pth
│   ├── model_barrett.pth
│   └── model_shadowhand.pth
└── pretrain
    ├── pretrain_3robots.pth
    ├── pretrain_allegro.pth
    ├── pretrain_barrett.pth
    └── pretrain_shadowhand.pth

• data.zip should extract into data/ folder:

data
├── CMapDataset  # Contains the original CMapDataset
├── CMapDataset_filtered  # Contains the filtered CMapDataset
│   └── README.md  # Provides dataset information
├── data_urdf
│   ├── object  # Stores object meshes
│   └── robot  # Stores robot URDFs
├── MultiDex  # Contains the original MultiDex dataset
├── MultiDex_filtered  # Contains the filtered MultiDex dataset
│   └── README.md  # Provides dataset information
└── PointCloud
    ├── object  # Contains sampled object point clouds and normals
    └── robot  # Contains sampled robot point clouds for all links