├── .gitignore ├── LICENSE ├── README.md ├── imgs ├── bvs-compare.png ├── overview.png └── sphere-num-compare.png ├── mesh_models └── fr3 │ └── collision │ ├── finger.obj │ ├── hand.obj │ ├── link0.obj │ ├── link1.obj │ ├── link2.obj │ ├── link3.obj │ ├── link4.obj │ ├── link5.obj │ ├── link6.obj │ └── link7.obj ├── requirements.txt └── src ├── config.py ├── convergence_tracker.py ├── density_control.py ├── inside_mesh.py ├── logger.py ├── losses.py ├── main.py ├── morphit.py ├── morphit_panda.py ├── render_thread.py ├── scripts ├── create_curobo_yaml_file.py ├── create_object_urdf.py ├── create_panda_urdf.py ├── create_planar_robot.py ├── franka.yml ├── h1_multi_sphere.urdf ├── panda.urdf ├── panda_multi_sphere.urdf ├── run_spherical_panda_drake_example.py └── spot_multi_sphere.urdf ├── setup.py ├── test_morphit.py ├── training.py ├── triangle_hash.cpp ├── triangle_hash.pyx ├── visualization.py └── visualize_packing.py /.gitignore: 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