├── README.md ├── assets ├── aligned_objects ├── dataset.png ├── franka_description │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── finger.stl │ │ │ ├── hand.obj │ │ │ ├── hand.stl │ │ │ ├── link0.obj │ │ │ ├── link0.stl │ │ │ ├── link1.obj │ │ │ ├── link1.stl │ │ │ ├── link2.obj │ │ │ ├── link2.stl │ │ │ ├── link3.obj │ │ │ ├── link3.stl │ │ │ ├── link4.obj │ │ │ ├── link4.stl │ │ │ ├── link5.obj │ │ │ ├── link5.stl │ │ │ ├── link6.obj │ │ │ ├── link6.stl │ │ │ ├── link7.obj │ │ │ ├── link7.stl │ │ │ ├── stltoobj.bat │ │ │ └── stltoobj.mlx │ │ └── visual │ │ │ ├── daetoobj.bat │ │ │ ├── daetoobj.mlx │ │ │ ├── finger.dae │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.dae │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link0.dae │ │ │ ├── link0.mtl │ │ │ ├── link0.obj │ │ │ ├── link1.dae │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.dae │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.dae │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.dae │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.dae │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.dae │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ ├── link7.dae │ │ │ ├── link7.mtl │ │ │ └── link7.obj │ └── robots │ │ ├── franka_gripper.urdf │ │ └── franka_panda.urdf ├── pipeline.png ├── seen.png └── unseen.png ├── requirements.txt └── src ├── __pycache__ └── utils.cpython-38.pyc ├── gpt_manipulation.py ├── human_demonstration ├── open_drawer_19179_0.json └── open_drawer_29921_1.json ├── human_manipulation.py ├── logs ├── debug.log └── error.log ├── prompt_config ├── mani.json └── mani_example.json ├── prompt_tool ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── agent.cpython-38.pyc │ ├── parser.cpython-38.pyc │ └── prompt.cpython-38.pyc ├── agent.py ├── feedback.py ├── parser.py └── prompt.py ├── replay_human_manipulation.py ├── rotate_records ├── close_dishwasher_11700.json ├── close_drawer_19179.json ├── close_oven_7138.json ├── close_refrigerator_10638.json ├── close_refrigerator_11178.json ├── close_safe_102301.json ├── close_suitcase_101668.json ├── lay_down_strap_101673.json ├── lift_strap_101673.json ├── lift_strap_101681_2.json ├── open_dishwasher_11700.json ├── open_drawer_19179.json ├── open_oven_7138.json ├── open_oven_7179.json ├── open_refrigerator_10638.json ├── open_refrigerator_11178.json ├── open_safe_101612.json ├── open_safe_102301.json ├── open_suitcase_101668.json ├── turn_bottle_cap_3558.json ├── turn_off_faucet_1646.json ├── turn_on_button_7167.json └── turn_on_faucet_1053.json ├── task_config ├── close_cabinet.yaml ├── close_coffee_machine_lid.yaml ├── close_dishwasher.yaml ├── close_door.yaml ├── close_down_trashcan.yaml ├── close_drawer.yaml ├── close_kichenpot.yaml ├── close_laptop.yaml ├── close_microwave.yaml ├── close_oven copy.yaml ├── close_oven.yaml ├── close_refrigerator.yaml ├── close_safe.yaml ├── close_suitcase.yaml ├── close_washingmachine.yaml ├── close_window copy.yaml ├── close_window.yaml ├── demo_cabinet.yaml ├── lay_down_bucket_handle.yaml ├── lay_down_strap.yaml ├── lay_down_toilet_lid.yaml ├── lift_bucket_handle.yaml ├── lift_strap.yaml ├── lift_up_coffee_machine_lid.yaml ├── lift_up_kichenpot.yaml ├── lift_up_toilet_lid.yaml ├── lift_up_trashcan.yaml ├── open_cabinet.yaml ├── open_dishwasher.yaml ├── open_door.yaml ├── open_drawer copy.yaml ├── open_drawer.yaml ├── open_laptop.yaml ├── open_microwave.yaml ├── open_oven copy.yaml ├── open_oven.yaml ├── open_refrigerator.yaml ├── open_safe.yaml ├── open_suitcase.yaml ├── open_washingmachine.yaml ├── open_window.yaml ├── press_button.yaml ├── press_stapler.yaml ├── turn_bottle_cap.yaml ├── turn_off_faucet.yaml ├── turn_on_button.yaml ├── turn_on_faucet.yaml ├── turn_on_switch.yaml └── turn_on_toaster.yaml └── utils.py /README.md: -------------------------------------------------------------------------------- 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