HandCDO

HandCDO contains the public code and project page assets for task-driven robotic hand generation and co-design. The repository separates the IROS paper implementation from the newer generator: iros_paper_codebase/ keeps the paper code together, while generation_v2/ is the improved hand generation pipeline at the repository root.

Repository Layout

HandCDO/
  index.html                 # Static project page entry point
  website_assets/            # Images and video used by the project page
  generation_v2/             # Improved hand generation pipeline
  iros_paper_codebase/       # Codebase used for the IROS submission
    generation/              # Original hand generation pipeline
    optimization/            # Nested hand design optimization code
      grasp_evaluation/      # Isaac Lab / grasp simulation scoring pipeline

Main Workflows

• Use generation_v2/ for the current generator. It includes randomized parameter sampling, batch generation, Blender assembly/export code, and a Blender add-on under generation_v2/blender/.
• Use iros_paper_codebase/generation/ for the original generator used in the IROS submission.
• Use iros_paper_codebase/optimization/ for the nested optimization pipeline. The optimizer generates candidate hand designs and scores them through iros_paper_codebase/optimization/grasp_evaluation/.
• The project page is defined by index.html and the media in website_assets/.

Code Organization

• generation_v2/ParamGen.py defines the current sampling layer for palm, finger, thumb, and pad parameters.
• generation_v2/GenerateHands.py and generation_v2/GenerateHandsBatch.py are the script entry points for generating one or more hand designs.
• generation_v2/blender/HandGeneratorV2.py is the Blender add-on entry point, and generation_v2/blender/components.blend stores reusable Blender component assets used by the assembly pipeline.
• iros_paper_codebase/optimization/nested_optimizer_v2.py is the optimizer script used for the reported paper results.

License

This project is released under the MIT License. See LICENSE.