├── LICENSE ├── README.md ├── clutter_grasp_data_generator.py ├── data_robot ├── egad_eval_set │ ├── A0.obj │ ├── A1.obj │ ├── A2.obj │ ├── A3.obj │ ├── A4.obj │ ├── A5.obj │ ├── A6.obj │ ├── B0.obj │ ├── B1.obj │ ├── B2.obj │ ├── B3.obj │ ├── B4.obj │ ├── B5.obj │ ├── B6.obj │ ├── C0.obj │ ├── C1.obj │ ├── C2.obj │ ├── C3.obj │ ├── C4.obj │ ├── C5.obj │ ├── C6.obj │ ├── D0.obj │ ├── D1.obj │ ├── D2.obj │ ├── D3.obj │ ├── D4.obj │ ├── D5.obj │ ├── D6.obj │ ├── E0.obj │ ├── E1.obj │ ├── E2.obj │ ├── E3.obj │ ├── E4.obj │ ├── E5.obj │ ├── E6.obj │ ├── F0.obj │ ├── F1.obj │ ├── F2.obj │ ├── F3.obj │ ├── F4.obj │ ├── F5.obj │ ├── F6.obj │ ├── G0.obj │ ├── G1.obj │ ├── G2.obj │ ├── G3.obj │ ├── G4.obj │ ├── G5.obj │ └── G6.obj ├── graspnet_1B_object │ └── GraspNet1B_object │ │ ├── 000 │ │ └── convex.obj │ │ ├── 001 │ │ └── convex.obj │ │ ├── 002 │ │ └── convex.obj │ │ ├── 003 │ │ └── convex.obj │ │ ├── 004 │ │ └── convex.obj │ │ ├── 005 │ │ └── convex.obj │ │ ├── 007 │ │ └── convex.obj │ │ ├── 008 │ │ └── convex.obj │ │ ├── 009 │ │ └── convex.obj │ │ ├── 010 │ │ └── convex.obj │ │ ├── 011 │ │ └── convex.obj │ │ ├── 012 │ │ └── convex.obj │ │ ├── 013 │ │ └── convex.obj │ │ ├── 014 │ │ └── convex.obj │ │ ├── 015 │ │ └── convex.obj │ │ ├── 016 │ │ └── convex.obj │ │ ├── 017 │ │ └── convex.obj │ │ ├── 018 │ │ └── convex.obj │ │ ├── 019 │ │ └── convex.obj │ │ ├── 020 │ │ └── convex.obj │ │ ├── 021 │ │ └── convex.obj │ │ ├── 022 │ │ └── convex.obj │ │ ├── 023 │ │ └── convex.obj │ │ ├── 024 │ │ └── convex.obj │ │ ├── 025 │ │ └── convex.obj │ │ ├── 026 │ │ └── convex.obj │ │ ├── 027 │ │ └── convex.obj │ │ ├── 028 │ │ └── convex.obj │ │ ├── 029 │ │ └── convex.obj │ │ ├── 030 │ │ └── convex.obj │ │ ├── 031 │ │ └── convex.obj │ │ ├── 032 │ │ └── convex.obj │ │ ├── 033 │ │ └── convex.obj │ │ ├── 034 │ │ └── convex.obj │ │ ├── 035 │ │ └── convex.obj │ │ ├── 036 │ │ └── convex.obj │ │ ├── 037 │ │ └── convex.obj │ │ ├── 038 │ │ └── convex.obj │ │ ├── 039 │ │ └── convex.obj │ │ ├── 040 │ │ └── convex.obj │ │ ├── 041 │ │ └── convex.obj │ │ ├── 042 │ │ └── convex.obj │ │ ├── 043 │ │ └── convex.obj │ │ ├── 044 │ │ └── convex.obj │ │ ├── 045 │ │ └── convex.obj │ │ ├── 047 │ │ └── convex.obj │ │ ├── 048 │ │ └── convex.obj │ │ ├── 049 │ │ └── convex.obj │ │ ├── 050 │ │ └── convex.obj │ │ ├── 051 │ │ └── convex.obj │ │ ├── 052 │ │ └── convex.obj │ │ ├── 053 │ │ └── convex.obj │ │ ├── 054 │ │ └── convex.obj │ │ ├── 055 │ │ └── convex.obj │ │ ├── 056 │ │ └── convex.obj │ │ ├── 057 │ │ └── convex.obj │ │ ├── 058 │ │ └── convex.obj │ │ ├── 059 │ │ └── convex.obj │ │ ├── 060 │ │ └── convex.obj │ │ ├── 061 │ │ └── convex.obj │ │ ├── 062 │ │ └── convex.obj │ │ ├── 063 │ │ └── convex.obj │ │ ├── 064 │ │ └── convex.obj │ │ ├── 065 │ │ └── convex.obj │ │ ├── 066 │ │ └── convex.obj │ │ ├── 067 │ │ └── convex.obj │ │ ├── 068 │ │ └── convex.obj │ │ ├── 069 │ │ └── convex.obj │ │ ├── 070 │ │ └── convex.obj │ │ ├── 071 │ │ └── convex.obj │ │ ├── 072 │ │ └── convex.obj │ │ ├── 073 │ │ └── convex.obj │ │ ├── 074 │ │ └── convex.obj │ │ ├── 075 │ │ └── convex.obj │ │ ├── 076 │ │ └── convex.obj │ │ ├── 077 │ │ └── convex.obj │ │ ├── 078 │ │ └── convex.obj │ │ ├── 079 │ │ └── convex.obj │ │ ├── 080 │ │ └── convex.obj │ │ ├── 081 │ │ └── convex.obj │ │ ├── 082 │ │ └── convex.obj │ │ ├── 083 │ │ └── convex.obj │ │ ├── 084 │ │ └── convex.obj │ │ ├── 085 │ │ └── convex.obj │ │ ├── 086 │ │ └── convex.obj │ │ └── 087 │ │ └── convex.obj ├── graspnet_1B_object_test │ └── GraspNet1B_object │ │ ├── 000 │ │ └── convex.obj │ │ ├── 001 │ │ └── convex.obj │ │ ├── 002 │ │ └── convex.obj │ │ ├── 003 │ │ └── convex.obj │ │ ├── 004 │ │ └── convex.obj │ │ ├── 005 │ │ └── convex.obj │ │ ├── 007 │ │ └── convex.obj │ │ ├── 008 │ │ └── convex.obj │ │ ├── 010 │ │ └── convex.obj │ │ ├── 011 │ │ └── convex.obj │ │ ├── 012 │ │ └── convex.obj │ │ ├── 013 │ │ └── convex.obj │ │ ├── 014 │ │ └── convex.obj │ │ ├── 015 │ │ └── convex.obj │ │ ├── 016 │ │ └── convex.obj │ │ ├── 017 │ │ └── convex.obj │ │ ├── 018 │ │ └── convex.obj │ │ ├── 020 │ │ └── convex.obj │ │ ├── 021 │ │ └── convex.obj │ │ ├── 022 │ │ └── convex.obj │ │ ├── 023 │ │ └── convex.obj │ │ ├── 024 │ │ └── convex.obj │ │ ├── 025 │ │ └── convex.obj │ │ ├── 026 │ │ └── convex.obj │ │ ├── 027 │ │ └── convex.obj │ │ ├── 028 │ │ └── convex.obj │ │ ├── 029 │ │ └── convex.obj │ │ ├── 030 │ │ └── convex.obj │ │ ├── 031 │ │ └── convex.obj │ │ ├── 032 │ │ └── convex.obj │ │ ├── 033 │ │ └── convex.obj │ │ ├── 034 │ │ └── convex.obj │ │ ├── 035 │ │ └── convex.obj │ │ ├── 036 │ │ └── convex.obj │ │ ├── 037 │ │ └── convex.obj │ │ ├── 038 │ │ └── convex.obj │ │ ├── 039 │ │ └── convex.obj │ │ ├── 040 │ │ └── convex.obj │ │ ├── 041 │ │ └── convex.obj │ │ ├── 042 │ │ └── convex.obj │ │ ├── 043 │ │ └── convex.obj │ │ ├── 044 │ │ └── convex.obj │ │ ├── 045 │ │ └── convex.obj │ │ ├── 047 │ │ └── convex.obj │ │ ├── 048 │ │ └── convex.obj │ │ ├── 049 │ │ └── convex.obj │ │ ├── 050 │ │ └── convex.obj │ │ ├── 051 │ │ └── convex.obj │ │ ├── 052 │ │ └── convex.obj │ │ ├── 053 │ │ └── convex.obj │ │ ├── 054 │ │ └── convex.obj │ │ ├── 055 │ │ └── convex.obj │ │ ├── 056 │ │ └── convex.obj │ │ ├── 057 │ │ └── convex.obj │ │ ├── 058 │ │ └── convex.obj │ │ ├── 059 │ │ └── convex.obj │ │ ├── 060 │ │ └── convex.obj │ │ ├── 061 │ │ └── convex.obj │ │ ├── 062 │ │ └── convex.obj │ │ ├── 063 │ │ └── convex.obj │ │ ├── 064 │ │ └── convex.obj │ │ ├── 065 │ │ └── convex.obj │ │ ├── 066 │ │ └── convex.obj │ │ ├── 067 │ │ └── convex.obj │ │ ├── 068 │ │ └── convex.obj │ │ ├── 069 │ │ └── convex.obj │ │ ├── 070 │ │ └── convex.obj │ │ ├── 071 │ │ └── convex.obj │ │ ├── 072 │ │ └── convex.obj │ │ ├── 073 │ │ └── convex.obj │ │ ├── 074 │ │ └── convex.obj │ │ ├── 075 │ │ └── convex.obj │ │ ├── 076 │ │ └── convex.obj │ │ ├── 077 │ │ └── convex.obj │ │ ├── 078 │ │ └── convex.obj │ │ ├── 079 │ │ └── convex.obj │ │ ├── 080 │ │ └── convex.obj │ │ ├── 081 │ │ └── convex.obj │ │ ├── 082 │ │ └── convex.obj │ │ ├── 083 │ │ └── convex.obj │ │ ├── 084 │ │ └── convex.obj │ │ ├── 085 │ │ └── convex.obj │ │ ├── 086 │ │ └── convex.obj │ │ └── 087 │ │ └── convex.obj └── urdfs │ ├── blocks │ ├── circular_segment.obj │ ├── circular_segment.urdf │ ├── cube.urdf │ ├── cuboid.urdf │ ├── cylinder.urdf │ ├── triangle.obj │ └── triangle.urdf │ ├── packed │ ├── test │ │ ├── 3m_high_tack_spray_adhesive.urdf │ │ ├── 3m_high_tack_spray_adhesive_collision.obj │ │ ├── 3m_high_tack_spray_adhesive_visual.obj │ │ ├── BakingVanilla_800_tex.urdf │ │ ├── BakingVanilla_800_tex_collision.obj │ │ ├── BakingVanilla_800_tex_visual.obj │ │ ├── CoffeeCookies_800_tex.urdf │ │ ├── CoffeeCookies_800_tex_collision.obj │ │ ├── CoffeeCookies_800_tex_visual.obj │ │ ├── FennelTea_800_tex.urdf │ │ ├── FennelTea_800_tex_collision.obj │ │ ├── FennelTea_800_tex_visual.obj │ │ ├── FruitTea_800_tex.urdf │ │ ├── FruitTea_800_tex_collision.obj │ │ ├── FruitTea_800_tex_visual.obj │ │ ├── KoalaCandy_800_tex.urdf │ │ ├── KoalaCandy_800_tex_collision.obj │ │ ├── KoalaCandy_800_tex_visual.obj │ │ ├── Paprika_800_tex.urdf │ │ ├── Paprika_800_tex_collision.obj │ │ ├── Paprika_800_tex_visual.obj │ │ ├── PotatoeDumplings_800_tex.urdf │ │ ├── PotatoeDumplings_800_tex_collision.obj │ │ ├── PotatoeDumplings_800_tex_visual.obj │ │ ├── SoftCakeOrange_800_tex.urdf │ │ ├── SoftCakeOrange_800_tex_collision.obj │ │ ├── SoftCakeOrange_800_tex_visual.obj │ │ ├── chips_can.urdf │ │ ├── chips_can_collision.obj │ │ ├── chips_can_visual.obj │ │ ├── cracker_box.urdf │ │ ├── cracker_box_collision.obj │ │ ├── cracker_box_visual.obj │ │ ├── master_chef_can.urdf │ │ ├── master_chef_can_collision.obj │ │ ├── master_chef_can_visual.obj │ │ ├── pop_secret_butter.urdf │ │ ├── pop_secret_butter_collision.obj │ │ ├── pop_secret_butter_visual.obj │ │ ├── pudding_box.urdf │ │ ├── pudding_box_collision.obj │ │ ├── pudding_box_visual.obj │ │ ├── south_beach_good_to_go_dark_chocolate.urdf │ │ ├── south_beach_good_to_go_dark_chocolate_collision.obj │ │ ├── south_beach_good_to_go_dark_chocolate_visual.obj │ │ ├── wooden_block.urdf │ │ ├── wooden_block_collision.obj │ │ └── wooden_block_visual.obj │ └── train │ │ ├── Amicelli_800_tex.urdf │ │ ├── Amicelli_800_tex_collision.obj │ │ ├── Amicelli_800_tex_visual.obj │ │ ├── BakingSoda_800_tex.urdf │ │ ├── BakingSoda_800_tex_collision.obj │ │ ├── BakingSoda_800_tex_visual.obj │ │ ├── BathDetergent_800_tex.urdf │ │ ├── BathDetergent_800_tex_collision.obj │ │ ├── BathDetergent_800_tex_visual.obj │ │ ├── BlueSaltCube_800_tex.urdf │ │ ├── BlueSaltCube_800_tex_collision.obj │ │ ├── BlueSaltCube_800_tex_visual.obj │ │ ├── ChocMarshmallows_800_tex.urdf │ │ ├── ChocMarshmallows_800_tex_collision.obj │ │ ├── ChocMarshmallows_800_tex_visual.obj │ │ ├── ChoppedTomatoes_800_tex.urdf │ │ ├── ChoppedTomatoes_800_tex_collision.obj │ │ ├── ChoppedTomatoes_800_tex_visual.obj │ │ ├── Clown_800_tex.urdf │ │ ├── Clown_800_tex_collision.obj │ │ ├── Clown_800_tex_visual.obj │ │ ├── CoffeeFilters_800_tex.urdf │ │ ├── CoffeeFilters_800_tex_collision.obj │ │ ├── CoffeeFilters_800_tex_visual.obj │ │ ├── CokePlasticLarge_800_tex.urdf │ │ ├── CokePlasticLarge_800_tex_collision.obj │ │ ├── CokePlasticLarge_800_tex_visual.obj │ │ ├── CokePlasticSmall_800_tex.urdf │ │ ├── CokePlasticSmall_800_tex_collision.obj │ │ ├── CokePlasticSmall_800_tex_visual.obj │ │ ├── CoughDropsBerries_800_tex.urdf │ │ ├── CoughDropsBerries_800_tex_collision.obj │ │ ├── CoughDropsBerries_800_tex_visual.obj │ │ ├── CoughDropsHoney_800_tex.urdf │ │ ├── CoughDropsHoney_800_tex_collision.obj │ │ ├── CoughDropsHoney_800_tex_visual.obj │ │ ├── Curry_800_tex.urdf │ │ ├── Curry_800_tex_collision.obj │ │ ├── Curry_800_tex_visual.obj │ │ ├── DanishHam_800_tex.urdf │ │ ├── DanishHam_800_tex_collision.obj │ │ ├── DanishHam_800_tex_visual.obj │ │ ├── Deodorant_800_tex.urdf │ │ ├── Deodorant_800_tex_collision.obj │ │ ├── Deodorant_800_tex_visual.obj │ │ ├── DropsCherry_800_tex.urdf │ │ ├── DropsCherry_800_tex_collision.obj │ │ ├── DropsCherry_800_tex_visual.obj │ │ ├── Dwarf_800_tex.urdf │ │ ├── Dwarf_800_tex_collision.obj │ │ ├── Dwarf_800_tex_visual.obj │ │ ├── FruitBars_800_tex.urdf │ │ ├── FruitBars_800_tex_collision.obj │ │ ├── FruitBars_800_tex_visual.obj │ │ ├── GreenSaltCylinder_800_tex.urdf │ │ ├── GreenSaltCylinder_800_tex_collision.obj │ │ ├── GreenSaltCylinder_800_tex_visual.obj │ │ ├── HamburgerSauce_800_tex.urdf │ │ ├── HamburgerSauce_800_tex_collision.obj │ │ ├── HamburgerSauce_800_tex_visual.obj │ │ ├── HerbSalt_800_tex.urdf │ │ ├── HerbSalt_800_tex_collision.obj │ │ ├── HerbSalt_800_tex_visual.obj │ │ ├── HeringTin_800_tex.urdf │ │ ├── HeringTin_800_tex_collision.obj │ │ ├── HeringTin_800_tex_visual.obj │ │ ├── HotPot_800_tex.urdf │ │ ├── HotPot_800_tex_collision.obj │ │ ├── HotPot_800_tex_visual.obj │ │ ├── HygieneSpray_800_tex.urdf │ │ ├── HygieneSpray_800_tex_collision.obj │ │ ├── HygieneSpray_800_tex_visual.obj │ │ ├── InstantDumplings_800_tex.urdf │ │ ├── InstantDumplings_800_tex_collision.obj │ │ ├── InstantDumplings_800_tex_visual.obj │ │ ├── InstantIceCoffee_800_tex.urdf │ │ ├── InstantIceCoffee_800_tex_collision.obj │ │ ├── InstantIceCoffee_800_tex_visual.obj │ │ ├── InstantMousse_800_tex.urdf │ │ ├── InstantMousse_800_tex_collision.obj │ │ ├── InstantMousse_800_tex_visual.obj │ │ ├── InstantSauce2_800_tex.urdf │ │ ├── InstantSauce2_800_tex_collision.obj │ │ ├── InstantSauce2_800_tex_visual.obj │ │ ├── InstantSauce_800_tex.urdf │ │ ├── InstantSauce_800_tex_collision.obj │ │ ├── InstantSauce_800_tex_visual.obj │ │ ├── InstantTomatoSoup_800_tex.urdf │ │ ├── InstantTomatoSoup_800_tex_collision.obj │ │ ├── InstantTomatoSoup_800_tex_visual.obj │ │ ├── JamSugar_800_tex.urdf │ │ ├── JamSugar_800_tex_collision.obj │ │ ├── JamSugar_800_tex_visual.obj │ │ ├── Knaeckebrot_800_tex.urdf │ │ ├── Knaeckebrot_800_tex_collision.obj │ │ ├── Knaeckebrot_800_tex_visual.obj │ │ ├── LivioClassicOil_800_tex.urdf │ │ ├── LivioClassicOil_800_tex_collision.obj │ │ ├── LivioClassicOil_800_tex_visual.obj │ │ ├── Marjoram_800_tex.urdf │ │ ├── Marjoram_800_tex_collision.obj │ │ ├── Marjoram_800_tex_visual.obj │ │ ├── MelforBottle_800_tex.urdf │ │ ├── MelforBottle_800_tex_collision.obj │ │ ├── MelforBottle_800_tex_visual.obj │ │ ├── MilkDrinkVanilla_800_tex.urdf │ │ ├── MilkDrinkVanilla_800_tex_collision.obj │ │ ├── MilkDrinkVanilla_800_tex_visual.obj │ │ ├── MilkRice_800_tex.urdf │ │ ├── MilkRice_800_tex_collision.obj │ │ ├── MilkRice_800_tex_visual.obj │ │ ├── MuesliBars_800_tex.urdf │ │ ├── MuesliBars_800_tex_collision.obj │ │ ├── MuesliBars_800_tex_visual.obj │ │ ├── NutellaGo_800_tex.urdf │ │ ├── NutellaGo_800_tex_collision.obj │ │ ├── NutellaGo_800_tex_visual.obj │ │ ├── OrangeMarmelade_800_tex.urdf │ │ ├── OrangeMarmelade_800_tex_collision.obj │ │ ├── OrangeMarmelade_800_tex_visual.obj │ │ ├── OrgHerbTea_800_tex.urdf │ │ ├── OrgHerbTea_800_tex_collision.obj │ │ ├── OrgHerbTea_800_tex_visual.obj │ │ ├── Patches_800_tex.urdf │ │ ├── Patches_800_tex_collision.obj │ │ ├── Patches_800_tex_visual.obj │ │ ├── Peanuts2_800_tex.urdf │ │ ├── Peanuts2_800_tex_collision.obj │ │ ├── Peanuts2_800_tex_visual.obj │ │ ├── Peas_800_tex.urdf │ │ ├── Peas_800_tex_collision.obj │ │ ├── Peas_800_tex_visual.obj │ │ ├── PineappleSlices_800_tex.urdf │ │ ├── PineappleSlices_800_tex_collision.obj │ │ ├── PineappleSlices_800_tex_visual.obj │ │ ├── PotatoeStarch_800_tex.urdf │ │ ├── PotatoeStarch_800_tex_collision.obj │ │ ├── PotatoeStarch_800_tex_visual.obj │ │ ├── PowderedSugarMill_800_tex.urdf │ │ ├── PowderedSugarMill_800_tex_collision.obj │ │ ├── PowderedSugarMill_800_tex_visual.obj │ │ ├── PowderedSugar_800_tex.urdf │ │ ├── PowderedSugar_800_tex_collision.obj │ │ ├── PowderedSugar_800_tex_visual.obj │ │ ├── RavioliLarge_800_tex.urdf │ │ ├── RavioliLarge_800_tex_collision.obj │ │ ├── RavioliLarge_800_tex_visual.obj │ │ ├── RedCup_800_tex.urdf │ │ ├── RedCup_800_tex_collision.obj │ │ ├── RedCup_800_tex_visual.obj │ │ ├── RuskWholemeal_800_tex.urdf │ │ ├── RuskWholemeal_800_tex_collision.obj │ │ ├── RuskWholemeal_800_tex_visual.obj │ │ ├── Rusk_800_tex.urdf │ │ ├── Rusk_800_tex_collision.obj │ │ ├── Rusk_800_tex_visual.obj │ │ ├── SauceThickener_800_tex.urdf │ │ ├── SauceThickener_800_tex_collision.obj │ │ ├── SauceThickener_800_tex_visual.obj │ │ ├── SauerkrautSmall_800_tex.urdf │ │ ├── SauerkrautSmall_800_tex_collision.obj │ │ ├── SauerkrautSmall_800_tex_visual.obj │ │ ├── Sauerkraut_800_tex.urdf │ │ ├── Sauerkraut_800_tex_collision.obj │ │ ├── Sauerkraut_800_tex_visual.obj │ │ ├── Shampoo_800_tex.urdf │ │ ├── Shampoo_800_tex_collision.obj │ │ ├── Shampoo_800_tex_visual.obj │ │ ├── ShowerGel_800_tex.urdf │ │ ├── ShowerGel_800_tex_collision.obj │ │ ├── ShowerGel_800_tex_visual.obj │ │ ├── SoftCheese_800_tex.urdf │ │ ├── SoftCheese_800_tex_collision.obj │ │ ├── SoftCheese_800_tex_visual.obj │ │ ├── Sprudelflasche_800_tex.urdf │ │ ├── Sprudelflasche_800_tex_collision.obj │ │ ├── Sprudelflasche_800_tex_visual.obj │ │ ├── Sweetener_800_tex.urdf │ │ ├── Sweetener_800_tex_collision.obj │ │ ├── Sweetener_800_tex_visual.obj │ │ ├── TomatoHerbSauce_800_tex.urdf │ │ ├── TomatoHerbSauce_800_tex_collision.obj │ │ ├── TomatoHerbSauce_800_tex_visual.obj │ │ ├── TomatoSauce_800_tex.urdf │ │ ├── TomatoSauce_800_tex_collision.obj │ │ ├── TomatoSauce_800_tex_visual.obj │ │ ├── VitalisCereals_800_tex.urdf │ │ ├── VitalisCereals_800_tex_collision.obj │ │ ├── VitalisCereals_800_tex_visual.obj │ │ ├── WhippedCream2_800_tex.urdf │ │ ├── WhippedCream2_800_tex_collision.obj │ │ ├── WhippedCream2_800_tex_visual.obj │ │ ├── WhippedCream_800_tex.urdf │ │ ├── WhippedCream_800_tex_collision.obj │ │ ├── WhippedCream_800_tex_visual.obj │ │ ├── YellowSaltCube2_800_tex.urdf │ │ ├── YellowSaltCube2_800_tex_collision.obj │ │ ├── YellowSaltCube2_800_tex_visual.obj │ │ ├── YellowSaltCube_800_tex.urdf │ │ ├── YellowSaltCube_800_tex_collision.obj │ │ ├── YellowSaltCube_800_tex_visual.obj │ │ ├── YellowSaltCylinderSmall_800_tex.urdf │ │ ├── YellowSaltCylinderSmall_800_tex_collision.obj │ │ ├── YellowSaltCylinderSmall_800_tex_visual.obj │ │ ├── YellowSaltCylinder_800_tex.urdf │ │ ├── YellowSaltCylinder_800_tex_collision.obj │ │ ├── YellowSaltCylinder_800_tex_visual.obj │ │ ├── advil_liqui_gels.urdf │ │ ├── advil_liqui_gels_collision.obj │ │ ├── advil_liqui_gels_visual.obj │ │ ├── apple.urdf │ │ ├── apple_collision.obj │ │ ├── apple_visual.obj │ │ ├── band_aid_sheer_strips.urdf │ │ ├── band_aid_sheer_strips_collision.obj │ │ ├── band_aid_sheer_strips_visual.obj │ │ ├── bleach_cleanser.urdf │ │ ├── bleach_cleanser_collision.obj │ │ ├── bleach_cleanser_visual.obj │ │ ├── campbells_chicken_noodle_soup.urdf │ │ ├── campbells_chicken_noodle_soup_collision.obj │ │ ├── campbells_chicken_noodle_soup_visual.obj │ │ ├── campbells_soup_at_hand_creamy_tomato.urdf │ │ ├── campbells_soup_at_hand_creamy_tomato_collision.obj │ │ ├── campbells_soup_at_hand_creamy_tomato_visual.obj │ │ ├── canon_ack_e10_box.urdf │ │ ├── canon_ack_e10_box_collision.obj │ │ ├── canon_ack_e10_box_visual.obj │ │ ├── cheez_it_white_cheddar.urdf │ │ ├── cheez_it_white_cheddar_collision.obj │ │ ├── cheez_it_white_cheddar_visual.obj │ │ ├── chewy_dipps_chocolate_chip.urdf │ │ ├── chewy_dipps_chocolate_chip_collision.obj │ │ ├── chewy_dipps_chocolate_chip_visual.obj │ │ ├── chewy_dipps_peanut_butter.urdf │ │ ├── chewy_dipps_peanut_butter_collision.obj │ │ ├── chewy_dipps_peanut_butter_visual.obj │ │ ├── cinnamon_toast_crunch.urdf │ │ ├── cinnamon_toast_crunch_collision.obj │ │ ├── cinnamon_toast_crunch_visual.obj │ │ ├── clif_crunch_chocolate_chip.urdf │ │ ├── clif_crunch_chocolate_chip_collision.obj │ │ ├── clif_crunch_chocolate_chip_visual.obj │ │ ├── coffee_mate_french_vanilla.urdf │ │ ├── coffee_mate_french_vanilla_collision.obj │ │ ├── coffee_mate_french_vanilla_visual.obj │ │ ├── crystal_hot_sauce.urdf │ │ ├── crystal_hot_sauce_collision.obj │ │ ├── crystal_hot_sauce_visual.obj │ │ ├── cup_noodles_chicken.urdf │ │ ├── cup_noodles_chicken_collision.obj │ │ ├── cup_noodles_chicken_visual.obj │ │ ├── detergent.urdf │ │ ├── detergent_collision.obj │ │ ├── detergent_visual.obj │ │ ├── dove_beauty_cream_bar.urdf │ │ ├── dove_beauty_cream_bar_collision.obj │ │ ├── dove_beauty_cream_bar_visual.obj │ │ ├── extra_large_clamp.urdf │ │ ├── extra_large_clamp_collision.obj │ │ ├── extra_large_clamp_visual.obj │ │ ├── fruit_by_the_foot.urdf │ │ ├── fruit_by_the_foot_collision.obj │ │ ├── fruit_by_the_foot_visual.obj │ │ ├── haagen_dazs_butter_pecan.urdf │ │ ├── haagen_dazs_butter_pecan_collision.obj │ │ ├── haagen_dazs_butter_pecan_visual.obj │ │ ├── haagen_dazs_cookie_dough.urdf │ │ ├── haagen_dazs_cookie_dough_collision.obj │ │ ├── haagen_dazs_cookie_dough_visual.obj │ │ ├── hersheys_cocoa.urdf │ │ ├── hersheys_cocoa_collision.obj │ │ ├── hersheys_cocoa_visual.obj │ │ ├── hunts_paste.urdf │ │ ├── hunts_paste_collision.obj │ │ ├── hunts_paste_visual.obj │ │ ├── krylon_crystal_clear.urdf │ │ ├── krylon_crystal_clear_collision.obj │ │ ├── krylon_crystal_clear_visual.obj │ │ ├── krylon_short_cuts.urdf │ │ ├── krylon_short_cuts_collision.obj │ │ ├── krylon_short_cuts_visual.obj │ │ ├── motts_original_assorted_fruit.urdf │ │ ├── motts_original_assorted_fruit_collision.obj │ │ ├── motts_original_assorted_fruit_visual.obj │ │ ├── mug.urdf │ │ ├── mug_collision.obj │ │ ├── mug_visual.obj │ │ ├── mustard_bottle.urdf │ │ ├── mustard_bottle_collision.obj │ │ ├── mustard_bottle_visual.obj │ │ ├── nice_honey_roasted_almonds.urdf │ │ ├── nice_honey_roasted_almonds_collision.obj │ │ ├── nice_honey_roasted_almonds_visual.obj │ │ ├── nutrigrain_apple_cinnamon.urdf │ │ ├── nutrigrain_apple_cinnamon_collision.obj │ │ ├── nutrigrain_apple_cinnamon_visual.obj │ │ ├── pear.urdf │ │ ├── pear_collision.obj │ │ ├── pear_visual.obj │ │ ├── pepto_bismol.urdf │ │ ├── pepto_bismol_collision.obj │ │ ├── pepto_bismol_visual.obj │ │ ├── pop_secret_light_butter.urdf │ │ ├── pop_secret_light_butter_collision.obj │ │ ├── pop_secret_light_butter_visual.obj │ │ ├── pop_tarts_strawberry.urdf │ │ ├── pop_tarts_strawberry_collision.obj │ │ ├── pop_tarts_strawberry_visual.obj │ │ ├── potted_meat_can.urdf │ │ ├── potted_meat_can_collision.obj │ │ ├── potted_meat_can_visual.obj │ │ ├── pringles_bbq.urdf │ │ ├── pringles_bbq_collision.obj │ │ ├── pringles_bbq_visual.obj │ │ ├── progresso_new_england_clam_chowder.urdf │ │ ├── progresso_new_england_clam_chowder_collision.obj │ │ ├── progresso_new_england_clam_chowder_visual.obj │ │ ├── red_cup.urdf │ │ ├── red_cup_collision.obj │ │ ├── red_cup_visual.obj │ │ ├── softsoap_gold.urdf │ │ ├── softsoap_gold_collision.obj │ │ ├── softsoap_gold_visual.obj │ │ ├── spam.urdf │ │ ├── spam_collision.obj │ │ ├── spam_visual.obj │ │ ├── spongebob_squarepants_fruit_snaks.urdf │ │ ├── spongebob_squarepants_fruit_snaks_collision.obj │ │ ├── spongebob_squarepants_fruit_snaks_visual.obj │ │ ├── suave_sweet_guava_nectar_body_wash.urdf │ │ ├── suave_sweet_guava_nectar_body_wash_collision.obj │ │ ├── suave_sweet_guava_nectar_body_wash_visual.obj │ │ ├── sugar_box.urdf │ │ ├── sugar_box_collision.obj │ │ ├── sugar_box_visual.obj │ │ ├── tomato_soup_can.urdf │ │ ├── tomato_soup_can_collision.obj │ │ ├── tomato_soup_can_visual.obj │ │ ├── v8_fusion_peach_mango.urdf │ │ ├── v8_fusion_peach_mango_collision.obj │ │ └── v8_fusion_peach_mango_visual.obj │ ├── panda │ ├── hand.urdf │ └── meshes │ │ ├── collision │ │ ├── finger.obj │ │ └── hand.obj │ │ └── visual │ │ ├── colors.png │ │ ├── finger.mtl │ │ ├── finger.obj │ │ ├── hand.mtl │ │ └── hand.obj │ ├── pile │ ├── test │ │ ├── 3m_high_tack_spray_adhesive.urdf │ │ ├── 3m_high_tack_spray_adhesive_collision.obj │ │ ├── 3m_high_tack_spray_adhesive_visual.obj │ │ ├── BakingVanilla_800_tex.urdf │ │ ├── BakingVanilla_800_tex_collision.obj │ │ ├── BakingVanilla_800_tex_visual.obj │ │ ├── ChocSticks2_800_tex.urdf │ │ ├── ChocSticks2_800_tex_collision.obj │ │ ├── ChocSticks2_800_tex_visual.obj │ │ ├── ChocSticks_800_tex.urdf │ │ ├── ChocSticks_800_tex_collision.obj │ │ ├── ChocSticks_800_tex_visual.obj │ │ ├── CoffeeCookies_800_tex.urdf │ │ ├── CoffeeCookies_800_tex_collision.obj │ │ ├── CoffeeCookies_800_tex_visual.obj │ │ ├── FennelTea_800_tex.urdf │ │ ├── FennelTea_800_tex_collision.obj │ │ ├── FennelTea_800_tex_visual.obj │ │ ├── FruitTea_800_tex.urdf │ │ ├── FruitTea_800_tex_collision.obj │ │ ├── FruitTea_800_tex_visual.obj │ │ ├── KoalaCandy_800_tex.urdf │ │ ├── KoalaCandy_800_tex_collision.obj │ │ ├── KoalaCandy_800_tex_visual.obj │ │ ├── NutCandy_800_tex.urdf │ │ ├── NutCandy_800_tex_collision.obj │ │ ├── NutCandy_800_tex_visual.obj │ │ ├── Paprika_800_tex.urdf │ │ ├── Paprika_800_tex_collision.obj │ │ ├── Paprika_800_tex_visual.obj │ │ ├── PotatoeDumplings_800_tex.urdf │ │ ├── PotatoeDumplings_800_tex_collision.obj │ │ ├── PotatoeDumplings_800_tex_visual.obj │ │ ├── SoftCakeOrange_800_tex.urdf │ │ ├── SoftCakeOrange_800_tex_collision.obj │ │ ├── SoftCakeOrange_800_tex_visual.obj │ │ ├── bea77759a3e5f9037ae0031c221d81a4.urdf │ │ ├── bea77759a3e5f9037ae0031c221d81a4_collision.obj │ │ ├── bea77759a3e5f9037ae0031c221d81a4_visual.obj │ │ ├── blackshoes.urdf │ │ ├── blackshoes_collision.obj │ │ ├── blackshoes_visual.obj │ │ ├── boot_poisson_005.urdf │ │ ├── boot_poisson_005_collision.obj │ │ ├── boot_poisson_005_visual.obj │ │ ├── bottle_new_poisson_000.urdf │ │ ├── bottle_new_poisson_000_collision.obj │ │ ├── bottle_new_poisson_000_visual.obj │ │ ├── bowl.urdf │ │ ├── bowl_collision.obj │ │ ├── bowl_visual.obj │ │ ├── bowling_pin_poisson_000.urdf │ │ ├── bowling_pin_poisson_000_collision.obj │ │ ├── bowling_pin_poisson_000_visual.obj │ │ ├── bumblebee_albacore.urdf │ │ ├── bumblebee_albacore_collision.obj │ │ ├── bumblebee_albacore_visual.obj │ │ ├── chips_can.urdf │ │ ├── chips_can_collision.obj │ │ ├── chips_can_visual.obj │ │ ├── cracker_box.urdf │ │ ├── cracker_box_collision.obj │ │ ├── cracker_box_visual.obj │ │ ├── donut_poisson_000.urdf │ │ ├── donut_poisson_000_collision.obj │ │ ├── donut_poisson_000_visual.obj │ │ ├── donut_poisson_006.urdf │ │ ├── donut_poisson_006_collision.obj │ │ ├── donut_poisson_006_visual.obj │ │ ├── hammer_poisson_008.urdf │ │ ├── hammer_poisson_008_collision.obj │ │ ├── hammer_poisson_008_visual.obj │ │ ├── hammer_poisson_009.urdf │ │ ├── hammer_poisson_009_collision.obj │ │ ├── hammer_poisson_009_visual.obj │ │ ├── hammer_poisson_012.urdf │ │ ├── hammer_poisson_012_collision.obj │ │ ├── hammer_poisson_012_visual.obj │ │ ├── jar_poisson_004.urdf │ │ ├── jar_poisson_004_collision.obj │ │ ├── jar_poisson_004_visual.obj │ │ ├── lemon_poisson_000.urdf │ │ ├── lemon_poisson_000_collision.obj │ │ ├── lemon_poisson_000_visual.obj │ │ ├── light_bulb_poisson_001.urdf │ │ ├── light_bulb_poisson_001_collision.obj │ │ ├── light_bulb_poisson_001_visual.obj │ │ ├── master_chef_can.urdf │ │ ├── master_chef_can_collision.obj │ │ ├── master_chef_can_visual.obj │ │ ├── mushroom_poisson_005.urdf │ │ ├── mushroom_poisson_005_collision.obj │ │ ├── mushroom_poisson_005_visual.obj │ │ ├── pliers_poisson_014.urdf │ │ ├── pliers_poisson_014_collision.obj │ │ ├── pliers_poisson_014_visual.obj │ │ ├── pop_secret_butter.urdf │ │ ├── pop_secret_butter_collision.obj │ │ ├── pop_secret_butter_visual.obj │ │ ├── pudding_box.urdf │ │ ├── pudding_box_collision.obj │ │ ├── pudding_box_visual.obj │ │ ├── quaker_big_chewy_chocolate_chip.urdf │ │ ├── quaker_big_chewy_chocolate_chip_collision.obj │ │ ├── quaker_big_chewy_chocolate_chip_visual.obj │ │ ├── rubik_cube_poisson_004.urdf │ │ ├── rubik_cube_poisson_004_collision.obj │ │ ├── rubik_cube_poisson_004_visual.obj │ │ ├── soccer_ball_poisson_000.urdf │ │ ├── soccer_ball_poisson_000_collision.obj │ │ ├── soccer_ball_poisson_000_visual.obj │ │ ├── south_beach_good_to_go_dark_chocolate.urdf │ │ ├── south_beach_good_to_go_dark_chocolate_collision.obj │ │ ├── south_beach_good_to_go_dark_chocolate_visual.obj │ │ ├── spray_can_poisson_001.urdf │ │ ├── spray_can_poisson_001_collision.obj │ │ ├── spray_can_poisson_001_visual.obj │ │ ├── wooden_block.urdf │ │ ├── wooden_block_collision.obj │ │ └── wooden_block_visual.obj │ └── train │ │ ├── 114509277e76e413c8724d5673a063a6.urdf │ │ ├── 114509277e76e413c8724d5673a063a6_collision.obj │ │ ├── 114509277e76e413c8724d5673a063a6_visual.obj │ │ ├── 437678d4bc6be981c8724d5673a063a6.urdf │ │ ├── 437678d4bc6be981c8724d5673a063a6_collision.obj │ │ ├── 437678d4bc6be981c8724d5673a063a6_visual.obj │ │ ├── 4845731dbf7522b07492cbf7d8bec255.urdf │ │ ├── 4845731dbf7522b07492cbf7d8bec255_collision.obj │ │ ├── 4845731dbf7522b07492cbf7d8bec255_visual.obj │ │ ├── 542235fc88d22e1e3406473757712946.urdf │ │ ├── 542235fc88d22e1e3406473757712946_collision.obj │ │ ├── 542235fc88d22e1e3406473757712946_visual.obj │ │ ├── 6aec84952a5ffcf33f60d03e1cb068dc.urdf │ │ ├── 6aec84952a5ffcf33f60d03e1cb068dc_collision.obj │ │ ├── 6aec84952a5ffcf33f60d03e1cb068dc_visual.obj │ │ ├── 8bb057d18e2fcc4779368d1198f406e7.urdf │ │ ├── 8bb057d18e2fcc4779368d1198f406e7_collision.obj │ │ ├── 8bb057d18e2fcc4779368d1198f406e7_visual.obj │ │ ├── 970027a2c9f1de88c123147a914238ea.urdf │ │ ├── 970027a2c9f1de88c123147a914238ea_collision.obj │ │ ├── 970027a2c9f1de88c123147a914238ea_visual.obj │ │ ├── 9d8c711750a73b06ad1d789f3b2120d0.urdf │ │ ├── 9d8c711750a73b06ad1d789f3b2120d0_collision.obj │ │ ├── 9d8c711750a73b06ad1d789f3b2120d0_visual.obj │ │ ├── Amicelli_800_tex.urdf │ │ ├── Amicelli_800_tex_collision.obj │ │ ├── Amicelli_800_tex_visual.obj │ │ ├── BakingSoda_800_tex.urdf │ │ ├── BakingSoda_800_tex_collision.obj │ │ ├── BakingSoda_800_tex_visual.obj │ │ ├── BathDetergent_800_tex.urdf │ │ ├── BathDetergent_800_tex_collision.obj │ │ ├── BathDetergent_800_tex_visual.obj │ │ ├── BellPepper_v1_L3.urdf │ │ ├── BellPepper_v1_L3_collision.obj │ │ ├── BellPepper_v1_L3_visual.obj │ │ ├── BlueSaltCube_800_tex.urdf │ │ ├── BlueSaltCube_800_tex_collision.obj │ │ ├── BlueSaltCube_800_tex_visual.obj │ │ ├── CatLying_800_tex.urdf │ │ ├── CatLying_800_tex_collision.obj │ │ ├── CatLying_800_tex_visual.obj │ │ ├── CatSitting_800_tex.urdf │ │ ├── CatSitting_800_tex_collision.obj │ │ ├── CatSitting_800_tex_visual.obj │ │ ├── ChocMarshmallows_800_tex.urdf │ │ ├── ChocMarshmallows_800_tex_collision.obj │ │ ├── ChocMarshmallows_800_tex_visual.obj │ │ ├── ChocoIcing_800_tex.urdf │ │ ├── ChocoIcing_800_tex_collision.obj │ │ ├── ChocoIcing_800_tex_visual.obj │ │ ├── ChoppedTomatoes_800_tex.urdf │ │ ├── ChoppedTomatoes_800_tex_collision.obj │ │ ├── ChoppedTomatoes_800_tex_visual.obj │ │ ├── Clown_800_tex.urdf │ │ ├── Clown_800_tex_collision.obj │ │ ├── Clown_800_tex_visual.obj │ │ ├── CoffeeBox_800_tex.urdf │ │ ├── CoffeeBox_800_tex_collision.obj │ │ ├── CoffeeBox_800_tex_visual.obj │ │ ├── CoffeeFilters_800_tex.urdf │ │ ├── CoffeeFilters_800_tex_collision.obj │ │ ├── CoffeeFilters_800_tex_visual.obj │ │ ├── CokePlasticLarge_800_tex.urdf │ │ ├── CokePlasticLarge_800_tex_collision.obj │ │ ├── CokePlasticLarge_800_tex_visual.obj │ │ ├── CokePlasticSmall_800_tex.urdf │ │ ├── CokePlasticSmall_800_tex_collision.obj │ │ ├── CokePlasticSmall_800_tex_visual.obj │ │ ├── CoughDropsBerries_800_tex.urdf │ │ ├── CoughDropsBerries_800_tex_collision.obj │ │ ├── CoughDropsBerries_800_tex_visual.obj │ │ ├── CoughDropsHoney_800_tex.urdf │ │ ├── CoughDropsHoney_800_tex_collision.obj │ │ ├── CoughDropsHoney_800_tex_visual.obj │ │ ├── Curry_800_tex.urdf │ │ ├── Curry_800_tex_collision.obj │ │ ├── Curry_800_tex_visual.obj │ │ ├── DanishHam_800_tex.urdf │ │ ├── DanishHam_800_tex_collision.obj │ │ ├── DanishHam_800_tex_visual.obj │ │ ├── Deodorant_800_tex.urdf │ │ ├── Deodorant_800_tex_collision.obj │ │ ├── Deodorant_800_tex_visual.obj │ │ ├── DropsCherry_800_tex.urdf │ │ ├── DropsCherry_800_tex_collision.obj │ │ ├── DropsCherry_800_tex_visual.obj │ │ ├── Dwarf_800_tex.urdf │ │ ├── Dwarf_800_tex_collision.obj │ │ ├── Dwarf_800_tex_visual.obj │ │ ├── Fish_800_tex.urdf │ │ ├── Fish_800_tex_collision.obj │ │ ├── Fish_800_tex_visual.obj │ │ ├── FizzyTabletsCalcium_800_tex.urdf │ │ ├── FizzyTabletsCalcium_800_tex_collision.obj │ │ ├── FizzyTabletsCalcium_800_tex_visual.obj │ │ ├── FruitBars_800_tex.urdf │ │ ├── FruitBars_800_tex_collision.obj │ │ ├── FruitBars_800_tex_visual.obj │ │ ├── FruitDrink_800_tex.urdf │ │ ├── FruitDrink_800_tex_collision.obj │ │ ├── FruitDrink_800_tex_visual.obj │ │ ├── GreenCup_800_tex.urdf │ │ ├── GreenCup_800_tex_collision.obj │ │ ├── GreenCup_800_tex_visual.obj │ │ ├── GreenSaltCylinder_800_tex.urdf │ │ ├── GreenSaltCylinder_800_tex_collision.obj │ │ ├── GreenSaltCylinder_800_tex_visual.obj │ │ ├── HamburgerSauce_800_tex.urdf │ │ ├── HamburgerSauce_800_tex_collision.obj │ │ ├── HamburgerSauce_800_tex_visual.obj │ │ ├── Heart1_800_tex.urdf │ │ ├── Heart1_800_tex_collision.obj │ │ ├── Heart1_800_tex_visual.obj │ │ ├── HerbSalt_800_tex.urdf │ │ ├── HerbSalt_800_tex_collision.obj │ │ ├── HerbSalt_800_tex_visual.obj │ │ ├── HeringTin_800_tex.urdf │ │ ├── HeringTin_800_tex_collision.obj │ │ ├── HeringTin_800_tex_visual.obj │ │ ├── HotPot_800_tex.urdf │ │ ├── HotPot_800_tex_collision.obj │ │ ├── HotPot_800_tex_visual.obj │ │ ├── HygieneSpray_800_tex.urdf │ │ ├── HygieneSpray_800_tex_collision.obj │ │ ├── HygieneSpray_800_tex_visual.obj │ │ ├── InstantDumplings_800_tex.urdf │ │ ├── InstantDumplings_800_tex_collision.obj │ │ ├── InstantDumplings_800_tex_visual.obj │ │ ├── InstantIceCoffee_800_tex.urdf │ │ ├── InstantIceCoffee_800_tex_collision.obj │ │ ├── InstantIceCoffee_800_tex_visual.obj │ │ ├── InstantMousse_800_tex.urdf │ │ ├── InstantMousse_800_tex_collision.obj │ │ ├── InstantMousse_800_tex_visual.obj │ │ ├── InstantSauce2_800_tex.urdf │ │ ├── InstantSauce2_800_tex_collision.obj │ │ ├── InstantSauce2_800_tex_visual.obj │ │ ├── InstantSauce_800_tex.urdf │ │ ├── InstantSauce_800_tex_collision.obj │ │ ├── InstantSauce_800_tex_visual.obj │ │ ├── InstantSoup_800_tex.urdf │ │ ├── InstantSoup_800_tex_collision.obj │ │ ├── InstantSoup_800_tex_visual.obj │ │ ├── InstantTomatoSoup_800_tex.urdf │ │ ├── InstantTomatoSoup_800_tex_collision.obj │ │ ├── InstantTomatoSoup_800_tex_visual.obj │ │ ├── JamSugar_800_tex.urdf │ │ ├── JamSugar_800_tex_collision.obj │ │ ├── JamSugar_800_tex_visual.obj │ │ ├── Knaeckebrot_800_tex.urdf │ │ ├── Knaeckebrot_800_tex_collision.obj │ │ ├── Knaeckebrot_800_tex_visual.obj │ │ ├── LivioClassicOil_800_tex.urdf │ │ ├── LivioClassicOil_800_tex_collision.obj │ │ ├── LivioClassicOil_800_tex_visual.obj │ │ ├── Margarine_800_tex.urdf │ │ ├── Margarine_800_tex_collision.obj │ │ ├── Margarine_800_tex_visual.obj │ │ ├── Marjoram_800_tex.urdf │ │ ├── Marjoram_800_tex_collision.obj │ │ ├── Marjoram_800_tex_visual.obj │ │ ├── MelforBottle_800_tex.urdf │ │ ├── MelforBottle_800_tex_collision.obj │ │ ├── MelforBottle_800_tex_visual.obj │ │ ├── MilkDrinkVanilla_800_tex.urdf │ │ ├── MilkDrinkVanilla_800_tex_collision.obj │ │ ├── MilkDrinkVanilla_800_tex_visual.obj │ │ ├── MilkRice_800_tex.urdf │ │ ├── MilkRice_800_tex_collision.obj │ │ ├── MilkRice_800_tex_visual.obj │ │ ├── Moon_800_tex.urdf │ │ ├── Moon_800_tex_collision.obj │ │ ├── Moon_800_tex_visual.obj │ │ ├── MuesliBars_800_tex.urdf │ │ ├── MuesliBars_800_tex_collision.obj │ │ ├── MuesliBars_800_tex_visual.obj │ │ ├── NutellaGo_800_tex.urdf │ │ ├── NutellaGo_800_tex_collision.obj │ │ ├── NutellaGo_800_tex_visual.obj │ │ ├── OrangeMarmelade_800_tex.urdf │ │ ├── OrangeMarmelade_800_tex_collision.obj │ │ ├── OrangeMarmelade_800_tex_visual.obj │ │ ├── OrgHerbTea_800_tex.urdf │ │ ├── OrgHerbTea_800_tex_collision.obj │ │ ├── OrgHerbTea_800_tex_visual.obj │ │ ├── PatchesSensitive_800_tex.urdf │ │ ├── PatchesSensitive_800_tex_collision.obj │ │ ├── PatchesSensitive_800_tex_visual.obj │ │ ├── Patches_800_tex.urdf │ │ ├── Patches_800_tex_collision.obj │ │ ├── Patches_800_tex_visual.obj │ │ ├── Peanuts2_800_tex.urdf │ │ ├── Peanuts2_800_tex_collision.obj │ │ ├── Peanuts2_800_tex_visual.obj │ │ ├── Peas_800_tex.urdf │ │ ├── Peas_800_tex_collision.obj │ │ ├── Peas_800_tex_visual.obj │ │ ├── PineappleSlices_800_tex.urdf │ │ ├── PineappleSlices_800_tex_collision.obj │ │ ├── PineappleSlices_800_tex_visual.obj │ │ ├── Pitcher_800_tex.urdf │ │ ├── Pitcher_800_tex_collision.obj │ │ ├── Pitcher_800_tex_visual.obj │ │ ├── Pony_800_tex.urdf │ │ ├── Pony_800_tex_collision.obj │ │ ├── Pony_800_tex_visual.obj │ │ ├── PotatoeStarch_800_tex.urdf │ │ ├── PotatoeStarch_800_tex_collision.obj │ │ ├── PotatoeStarch_800_tex_visual.obj │ │ ├── PowderedSugarMill_800_tex.urdf │ │ ├── PowderedSugarMill_800_tex_collision.obj │ │ ├── PowderedSugarMill_800_tex_visual.obj │ │ ├── PowderedSugar_800_tex.urdf │ │ ├── PowderedSugar_800_tex_collision.obj │ │ ├── PowderedSugar_800_tex_visual.obj │ │ ├── RavioliLarge_800_tex.urdf │ │ ├── RavioliLarge_800_tex_collision.obj │ │ ├── RavioliLarge_800_tex_visual.obj │ │ ├── RedCup_800_tex.urdf │ │ ├── RedCup_800_tex_collision.obj │ │ ├── RedCup_800_tex_visual.obj │ │ ├── RuskWholemeal_800_tex.urdf │ │ ├── RuskWholemeal_800_tex_collision.obj │ │ ├── RuskWholemeal_800_tex_visual.obj │ │ ├── Rusk_800_tex.urdf │ │ ├── Rusk_800_tex_collision.obj │ │ ├── Rusk_800_tex_visual.obj │ │ ├── SauceThickener_800_tex.urdf │ │ ├── SauceThickener_800_tex_collision.obj │ │ ├── SauceThickener_800_tex_visual.obj │ │ ├── SauerkrautSmall_800_tex.urdf │ │ ├── SauerkrautSmall_800_tex_collision.obj │ │ ├── SauerkrautSmall_800_tex_visual.obj │ │ ├── Sauerkraut_800_tex.urdf │ │ ├── Sauerkraut_800_tex_collision.obj │ │ ├── Sauerkraut_800_tex_visual.obj │ │ ├── Seal_800_tex.urdf │ │ ├── Seal_800_tex_collision.obj │ │ ├── Seal_800_tex_visual.obj │ │ ├── Shampoo_800_tex.urdf │ │ ├── Shampoo_800_tex_collision.obj │ │ ├── Shampoo_800_tex_visual.obj │ │ ├── ShoeNike.urdf │ │ ├── ShoeNike_collision.obj │ │ ├── ShoeNike_visual.obj │ │ ├── ShowerGel_800_tex.urdf │ │ ├── ShowerGel_800_tex_collision.obj │ │ ├── ShowerGel_800_tex_visual.obj │ │ ├── SoftCheese_800_tex.urdf │ │ ├── SoftCheese_800_tex_collision.obj │ │ ├── SoftCheese_800_tex_visual.obj │ │ ├── Sprudelflasche_800_tex.urdf │ │ ├── Sprudelflasche_800_tex_collision.obj │ │ ├── Sprudelflasche_800_tex_visual.obj │ │ ├── Sweetener_800_tex.urdf │ │ ├── Sweetener_800_tex_collision.obj │ │ ├── Sweetener_800_tex_visual.obj │ │ ├── TomatoHerbSauce_800_tex.urdf │ │ ├── TomatoHerbSauce_800_tex_collision.obj │ │ ├── TomatoHerbSauce_800_tex_visual.obj │ │ ├── TomatoSauce_800_tex.urdf │ │ ├── TomatoSauce_800_tex_collision.obj │ │ ├── TomatoSauce_800_tex_visual.obj │ │ ├── Toothpaste_800_tex.urdf │ │ ├── Toothpaste_800_tex_collision.obj │ │ ├── Toothpaste_800_tex_visual.obj │ │ ├── Tortoise_800_tex.urdf │ │ ├── Tortoise_800_tex_collision.obj │ │ ├── Tortoise_800_tex_visual.obj │ │ ├── VitalisCereals_800_tex.urdf │ │ ├── VitalisCereals_800_tex_collision.obj │ │ ├── VitalisCereals_800_tex_visual.obj │ │ ├── WedgeShoe2.urdf │ │ ├── WedgeShoe2_collision.obj │ │ ├── WedgeShoe2_visual.obj │ │ ├── WhippedCream2_800_tex.urdf │ │ ├── WhippedCream2_800_tex_collision.obj │ │ ├── WhippedCream2_800_tex_visual.obj │ │ ├── WhippedCream_800_tex.urdf │ │ ├── WhippedCream_800_tex_collision.obj │ │ ├── WhippedCream_800_tex_visual.obj │ │ ├── YellowSaltCube2_800_tex.urdf │ │ ├── YellowSaltCube2_800_tex_collision.obj │ │ ├── YellowSaltCube2_800_tex_visual.obj │ │ ├── YellowSaltCube_800_tex.urdf │ │ ├── YellowSaltCube_800_tex_collision.obj │ │ ├── YellowSaltCube_800_tex_visual.obj │ │ ├── YellowSaltCylinderSmall_800_tex.urdf │ │ ├── YellowSaltCylinderSmall_800_tex_collision.obj │ │ ├── YellowSaltCylinderSmall_800_tex_visual.obj │ │ ├── YellowSaltCylinder_800_tex.urdf │ │ ├── YellowSaltCylinder_800_tex_collision.obj │ │ ├── YellowSaltCylinder_800_tex_visual.obj │ │ ├── a62129fa3fe48f0197d8a3751675d89f.urdf │ │ ├── a62129fa3fe48f0197d8a3751675d89f_collision.obj │ │ ├── a62129fa3fe48f0197d8a3751675d89f_visual.obj │ │ ├── advil_liqui_gels.urdf │ │ ├── advil_liqui_gels_collision.obj │ │ ├── advil_liqui_gels_visual.obj │ │ ├── apple.urdf │ │ ├── apple_collision.obj │ │ ├── apple_visual.obj │ │ ├── avocado_poisson_000.urdf │ │ ├── avocado_poisson_000_collision.obj │ │ ├── avocado_poisson_000_visual.obj │ │ ├── avocado_poisson_001.urdf │ │ ├── avocado_poisson_001_collision.obj │ │ ├── avocado_poisson_001_visual.obj │ │ ├── banana.urdf │ │ ├── banana_collision.obj │ │ ├── banana_poisson_000.urdf │ │ ├── banana_poisson_000_collision.obj │ │ ├── banana_poisson_000_visual.obj │ │ ├── banana_poisson_001.urdf │ │ ├── banana_poisson_001_collision.obj │ │ ├── banana_poisson_001_visual.obj │ │ ├── banana_poisson_002.urdf │ │ ├── banana_poisson_002_collision.obj │ │ ├── banana_poisson_002_visual.obj │ │ ├── banana_visual.obj │ │ ├── band_aid_clear_strips.urdf │ │ ├── band_aid_clear_strips_collision.obj │ │ ├── band_aid_clear_strips_visual.obj │ │ ├── band_aid_sheer_strips.urdf │ │ ├── band_aid_sheer_strips_collision.obj │ │ ├── band_aid_sheer_strips_visual.obj │ │ ├── binder_poisson_004.urdf │ │ ├── binder_poisson_004_collision.obj │ │ ├── binder_poisson_004_visual.obj │ │ ├── bleach_cleanser.urdf │ │ ├── bleach_cleanser_collision.obj │ │ ├── bleach_cleanser_visual.obj │ │ ├── blue_clover_baby_toy.urdf │ │ ├── blue_clover_baby_toy_collision.obj │ │ ├── blue_clover_baby_toy_visual.obj │ │ ├── boot_poisson_002.urdf │ │ ├── boot_poisson_002_collision.obj │ │ ├── boot_poisson_002_visual.obj │ │ ├── boot_poisson_004.urdf │ │ ├── boot_poisson_004_collision.obj │ │ ├── boot_poisson_004_visual.obj │ │ ├── boot_poisson_006.urdf │ │ ├── boot_poisson_006_collision.obj │ │ ├── boot_poisson_006_visual.obj │ │ ├── bowl_poisson_005.urdf │ │ ├── bowl_poisson_005_collision.obj │ │ ├── bowl_poisson_005_visual.obj │ │ ├── bowl_poisson_015.urdf │ │ ├── bowl_poisson_015_collision.obj │ │ ├── bowl_poisson_015_visual.obj │ │ ├── bowl_poisson_022.urdf │ │ ├── bowl_poisson_022_collision.obj │ │ ├── bowl_poisson_022_visual.obj │ │ ├── bowl_poisson_025.urdf │ │ ├── bowl_poisson_025_collision.obj │ │ ├── bowl_poisson_025_visual.obj │ │ ├── bowl_poisson_028.urdf │ │ ├── bowl_poisson_028_collision.obj │ │ ├── bowl_poisson_028_visual.obj │ │ ├── bowl_poisson_030.urdf │ │ ├── bowl_poisson_030_collision.obj │ │ ├── bowl_poisson_030_visual.obj │ │ ├── box_new_poisson_000.urdf │ │ ├── box_new_poisson_000_collision.obj │ │ ├── box_new_poisson_000_visual.obj │ │ ├── box_poisson_000.urdf │ │ ├── box_poisson_000_collision.obj │ │ ├── box_poisson_000_visual.obj │ │ ├── box_poisson_002.urdf │ │ ├── box_poisson_002_collision.obj │ │ ├── box_poisson_002_visual.obj │ │ ├── box_poisson_003.urdf │ │ ├── box_poisson_003_collision.obj │ │ ├── box_poisson_003_visual.obj │ │ ├── box_poisson_006.urdf │ │ ├── box_poisson_006_collision.obj │ │ ├── box_poisson_006_visual.obj │ │ ├── camera_poisson_003.urdf │ │ ├── camera_poisson_003_collision.obj │ │ ├── camera_poisson_003_visual.obj │ │ ├── camera_poisson_006.urdf │ │ ├── camera_poisson_006_collision.obj │ │ ├── camera_poisson_006_visual.obj │ │ ├── camera_poisson_007.urdf │ │ ├── camera_poisson_007_collision.obj │ │ ├── camera_poisson_007_visual.obj │ │ ├── camera_poisson_010.urdf │ │ ├── camera_poisson_010_collision.obj │ │ ├── camera_poisson_010_visual.obj │ │ ├── campbells_chicken_noodle_soup.urdf │ │ ├── campbells_chicken_noodle_soup_collision.obj │ │ ├── campbells_chicken_noodle_soup_visual.obj │ │ ├── campbells_soup_at_hand_creamy_tomato.urdf │ │ ├── campbells_soup_at_hand_creamy_tomato_collision.obj │ │ ├── campbells_soup_at_hand_creamy_tomato_visual.obj │ │ ├── can_poisson_002.urdf │ │ ├── can_poisson_002_collision.obj │ │ ├── can_poisson_002_visual.obj │ │ ├── can_poisson_003.urdf │ │ ├── can_poisson_003_collision.obj │ │ ├── can_poisson_003_visual.obj │ │ ├── can_poisson_007.urdf │ │ ├── can_poisson_007_collision.obj │ │ ├── can_poisson_007_visual.obj │ │ ├── canon_ack_e10_box.urdf │ │ ├── canon_ack_e10_box_collision.obj │ │ ├── canon_ack_e10_box_visual.obj │ │ ├── cellphone_poisson_025.urdf │ │ ├── cellphone_poisson_025_collision.obj │ │ ├── cellphone_poisson_025_visual.obj │ │ ├── cellphone_poisson_031.urdf │ │ ├── cellphone_poisson_031_collision.obj │ │ ├── cellphone_poisson_031_visual.obj │ │ ├── cellphone_poisson_032.urdf │ │ ├── cellphone_poisson_032_collision.obj │ │ ├── cellphone_poisson_032_visual.obj │ │ ├── champagne_glass_poisson_001.urdf │ │ ├── champagne_glass_poisson_001_collision.obj │ │ ├── champagne_glass_poisson_001_visual.obj │ │ ├── cheez_it_white_cheddar.urdf │ │ ├── cheez_it_white_cheddar_collision.obj │ │ ├── cheez_it_white_cheddar_visual.obj │ │ ├── chewy_dipps_chocolate_chip.urdf │ │ ├── chewy_dipps_chocolate_chip_collision.obj │ │ ├── chewy_dipps_chocolate_chip_visual.obj │ │ ├── chewy_dipps_peanut_butter.urdf │ │ ├── chewy_dipps_peanut_butter_collision.obj │ │ ├── chewy_dipps_peanut_butter_visual.obj │ │ ├── cholula_chipotle_hot_sauce.urdf │ │ ├── cholula_chipotle_hot_sauce_collision.obj │ │ ├── cholula_chipotle_hot_sauce_visual.obj │ │ ├── cinnamon_toast_crunch.urdf │ │ ├── cinnamon_toast_crunch_collision.obj │ │ ├── cinnamon_toast_crunch_visual.obj │ │ ├── clif_crunch_chocolate_chip.urdf │ │ ├── clif_crunch_chocolate_chip_collision.obj │ │ ├── clif_crunch_chocolate_chip_visual.obj │ │ ├── coffee_mate_french_vanilla.urdf │ │ ├── coffee_mate_french_vanilla_collision.obj │ │ ├── coffee_mate_french_vanilla_visual.obj │ │ ├── colgate_cool_mint.urdf │ │ ├── colgate_cool_mint_collision.obj │ │ ├── colgate_cool_mint_visual.obj │ │ ├── crayola_24_crayons.urdf │ │ ├── crayola_24_crayons_collision.obj │ │ ├── crayola_24_crayons_visual.obj │ │ ├── crest_complete_minty_fresh.urdf │ │ ├── crest_complete_minty_fresh_collision.obj │ │ ├── crest_complete_minty_fresh_visual.obj │ │ ├── croissant_poisson_000.urdf │ │ ├── croissant_poisson_000_collision.obj │ │ ├── croissant_poisson_000_visual.obj │ │ ├── crystal_hot_sauce.urdf │ │ ├── crystal_hot_sauce_collision.obj │ │ ├── crystal_hot_sauce_visual.obj │ │ ├── cucumber_poisson_000.urdf │ │ ├── cucumber_poisson_000_collision.obj │ │ ├── cucumber_poisson_000_visual.obj │ │ ├── cup_noodles_chicken.urdf │ │ ├── cup_noodles_chicken_collision.obj │ │ ├── cup_noodles_chicken_visual.obj │ │ ├── detergent.urdf │ │ ├── detergent_bottle_poisson_001.urdf │ │ ├── detergent_bottle_poisson_001_collision.obj │ │ ├── detergent_bottle_poisson_001_visual.obj │ │ ├── detergent_bottle_poisson_002.urdf │ │ ├── detergent_bottle_poisson_002_collision.obj │ │ ├── detergent_bottle_poisson_002_visual.obj │ │ ├── detergent_bottle_poisson_003.urdf │ │ ├── detergent_bottle_poisson_003_collision.obj │ │ ├── detergent_bottle_poisson_003_visual.obj │ │ ├── detergent_bottle_poisson_004.urdf │ │ ├── detergent_bottle_poisson_004_collision.obj │ │ ├── detergent_bottle_poisson_004_visual.obj │ │ ├── detergent_bottle_poisson_006.urdf │ │ ├── detergent_bottle_poisson_006_collision.obj │ │ ├── detergent_bottle_poisson_006_visual.obj │ │ ├── detergent_bottle_poisson_007.urdf │ │ ├── detergent_bottle_poisson_007_collision.obj │ │ ├── detergent_bottle_poisson_007_visual.obj │ │ ├── detergent_collision.obj │ │ ├── detergent_visual.obj │ │ ├── donut_poisson_002.urdf │ │ ├── donut_poisson_002_collision.obj │ │ ├── donut_poisson_002_visual.obj │ │ ├── donut_poisson_009.urdf │ │ ├── donut_poisson_009_collision.obj │ │ ├── donut_poisson_009_visual.obj │ │ ├── dove_beauty_cream_bar.urdf │ │ ├── dove_beauty_cream_bar_collision.obj │ │ ├── dove_beauty_cream_bar_visual.obj │ │ ├── drill_poisson_000.urdf │ │ ├── drill_poisson_000_collision.obj │ │ ├── drill_poisson_000_visual.obj │ │ ├── dumpbell_poisson_000.urdf │ │ ├── dumpbell_poisson_000_collision.obj │ │ ├── dumpbell_poisson_000_visual.obj │ │ ├── dumpbell_poisson_001.urdf │ │ ├── dumpbell_poisson_001_collision.obj │ │ ├── dumpbell_poisson_001_visual.obj │ │ ├── e94e46bc5833f2f5e57b873e4f3ef3a4.urdf │ │ ├── e94e46bc5833f2f5e57b873e4f3ef3a4_collision.obj │ │ ├── e94e46bc5833f2f5e57b873e4f3ef3a4_visual.obj │ │ ├── eating_right_for_healthy_living_apple.urdf │ │ ├── eating_right_for_healthy_living_apple_collision.obj │ │ ├── eating_right_for_healthy_living_apple_visual.obj │ │ ├── egg_poisson_000.urdf │ │ ├── egg_poisson_000_collision.obj │ │ ├── egg_poisson_000_visual.obj │ │ ├── egg_poisson_003.urdf │ │ ├── egg_poisson_003_collision.obj │ │ ├── egg_poisson_003_visual.obj │ │ ├── egg_poisson_004.urdf │ │ ├── egg_poisson_004_collision.obj │ │ ├── egg_poisson_004_visual.obj │ │ ├── egg_poisson_005.urdf │ │ ├── egg_poisson_005_collision.obj │ │ ├── egg_poisson_005_visual.obj │ │ ├── expo_marker_red.urdf │ │ ├── expo_marker_red_collision.obj │ │ ├── expo_marker_red_visual.obj │ │ ├── extra_large_clamp.urdf │ │ ├── extra_large_clamp_collision.obj │ │ ├── extra_large_clamp_visual.obj │ │ ├── f44301a26ca7f57c70d5704d62bc4186.urdf │ │ ├── f44301a26ca7f57c70d5704d62bc4186_collision.obj │ │ ├── f44301a26ca7f57c70d5704d62bc4186_visual.obj │ │ ├── figurine_poisson_004.urdf │ │ ├── figurine_poisson_004_collision.obj │ │ ├── figurine_poisson_004_visual.obj │ │ ├── figurine_poisson_005.urdf │ │ ├── figurine_poisson_005_collision.obj │ │ ├── figurine_poisson_005_visual.obj │ │ ├── flashlight_poisson_000.urdf │ │ ├── flashlight_poisson_000_collision.obj │ │ ├── flashlight_poisson_000_visual.obj │ │ ├── flashlight_poisson_005.urdf │ │ ├── flashlight_poisson_005_collision.obj │ │ ├── flashlight_poisson_005_visual.obj │ │ ├── flashlight_poisson_006.urdf │ │ ├── flashlight_poisson_006_collision.obj │ │ ├── flashlight_poisson_006_visual.obj │ │ ├── flashlight_poisson_007.urdf │ │ ├── flashlight_poisson_007_collision.obj │ │ ├── flashlight_poisson_007_visual.obj │ │ ├── fruit_by_the_foot.urdf │ │ ├── fruit_by_the_foot_collision.obj │ │ ├── fruit_by_the_foot_visual.obj │ │ ├── haagen_dazs_butter_pecan.urdf │ │ ├── haagen_dazs_butter_pecan_collision.obj │ │ ├── haagen_dazs_butter_pecan_visual.obj │ │ ├── haagen_dazs_cookie_dough.urdf │ │ ├── haagen_dazs_cookie_dough_collision.obj │ │ ├── haagen_dazs_cookie_dough_visual.obj │ │ ├── hammer_poisson_004.urdf │ │ ├── hammer_poisson_004_collision.obj │ │ ├── hammer_poisson_004_visual.obj │ │ ├── hammer_poisson_011.urdf │ │ ├── hammer_poisson_011_collision.obj │ │ ├── hammer_poisson_011_visual.obj │ │ ├── hersheys_cocoa.urdf │ │ ├── hersheys_cocoa_collision.obj │ │ ├── hersheys_cocoa_visual.obj │ │ ├── honey_bunches_of_oats_honey_roasted.urdf │ │ ├── honey_bunches_of_oats_honey_roasted_collision.obj │ │ ├── honey_bunches_of_oats_honey_roasted_visual.obj │ │ ├── hunts_paste.urdf │ │ ├── hunts_paste_collision.obj │ │ ├── hunts_paste_visual.obj │ │ ├── ikea_table_leg_blue.urdf │ │ ├── ikea_table_leg_blue_collision.obj │ │ ├── ikea_table_leg_blue_visual.obj │ │ ├── jar_poisson_000.urdf │ │ ├── jar_poisson_000_collision.obj │ │ ├── jar_poisson_000_visual.obj │ │ ├── jar_poisson_001.urdf │ │ ├── jar_poisson_001_collision.obj │ │ ├── jar_poisson_001_visual.obj │ │ ├── jar_poisson_002.urdf │ │ ├── jar_poisson_002_collision.obj │ │ ├── jar_poisson_002_visual.obj │ │ ├── jar_poisson_003.urdf │ │ ├── jar_poisson_003_collision.obj │ │ ├── jar_poisson_003_visual.obj │ │ ├── jar_poisson_005.urdf │ │ ├── jar_poisson_005_collision.obj │ │ ├── jar_poisson_005_visual.obj │ │ ├── jar_poisson_006.urdf │ │ ├── jar_poisson_006_collision.obj │ │ ├── jar_poisson_006_visual.obj │ │ ├── krylon_crystal_clear.urdf │ │ ├── krylon_crystal_clear_collision.obj │ │ ├── krylon_crystal_clear_visual.obj │ │ ├── krylon_short_cuts.urdf │ │ ├── krylon_short_cuts_collision.obj │ │ ├── krylon_short_cuts_visual.obj │ │ ├── ladle_poisson_000.urdf │ │ ├── ladle_poisson_000_collision.obj │ │ ├── ladle_poisson_000_visual.obj │ │ ├── large_clamp.urdf │ │ ├── large_clamp_collision.obj │ │ ├── large_clamp_visual.obj │ │ ├── large_marker.urdf │ │ ├── large_marker_collision.obj │ │ ├── large_marker_visual.obj │ │ ├── lemon.urdf │ │ ├── lemon_collision.obj │ │ ├── lemon_poisson_001.urdf │ │ ├── lemon_poisson_001_collision.obj │ │ ├── lemon_poisson_001_visual.obj │ │ ├── lemon_visual.obj │ │ ├── light_bulb_poisson_000.urdf │ │ ├── light_bulb_poisson_000_collision.obj │ │ ├── light_bulb_poisson_000_visual.obj │ │ ├── light_bulb_poisson_002.urdf │ │ ├── light_bulb_poisson_002_collision.obj │ │ ├── light_bulb_poisson_002_visual.obj │ │ ├── light_bulb_poisson_004.urdf │ │ ├── light_bulb_poisson_004_collision.obj │ │ ├── light_bulb_poisson_004_visual.obj │ │ ├── light_bulb_poisson_006.urdf │ │ ├── light_bulb_poisson_006_collision.obj │ │ ├── light_bulb_poisson_006_visual.obj │ │ ├── light_bulb_poisson_007.urdf │ │ ├── light_bulb_poisson_007_collision.obj │ │ ├── light_bulb_poisson_007_visual.obj │ │ ├── light_bulb_poisson_009.urdf │ │ ├── light_bulb_poisson_009_collision.obj │ │ ├── light_bulb_poisson_009_visual.obj │ │ ├── light_bulb_poisson_010.urdf │ │ ├── light_bulb_poisson_010_collision.obj │ │ ├── light_bulb_poisson_010_visual.obj │ │ ├── light_bulb_poisson_011.urdf │ │ ├── light_bulb_poisson_011_collision.obj │ │ ├── light_bulb_poisson_011_visual.obj │ │ ├── lime_poisson_000.urdf │ │ ├── lime_poisson_000_collision.obj │ │ ├── lime_poisson_000_visual.obj │ │ ├── lime_poisson_001.urdf │ │ ├── lime_poisson_001_collision.obj │ │ ├── lime_poisson_001_visual.obj │ │ ├── mom_to_mom_butternut_squash_pear.urdf │ │ ├── mom_to_mom_butternut_squash_pear_collision.obj │ │ ├── mom_to_mom_butternut_squash_pear_visual.obj │ │ ├── motts_original_assorted_fruit.urdf │ │ ├── motts_original_assorted_fruit_collision.obj │ │ ├── motts_original_assorted_fruit_visual.obj │ │ ├── mug.urdf │ │ ├── mug_collision.obj │ │ ├── mug_visual.obj │ │ ├── mushroom_poisson_002.urdf │ │ ├── mushroom_poisson_002_collision.obj │ │ ├── mushroom_poisson_002_visual.obj │ │ ├── mushroom_poisson_003.urdf │ │ ├── mushroom_poisson_003_collision.obj │ │ ├── mushroom_poisson_003_visual.obj │ │ ├── mushroom_poisson_004.urdf │ │ ├── mushroom_poisson_004_collision.obj │ │ ├── mushroom_poisson_004_visual.obj │ │ ├── mustard_bottle.urdf │ │ ├── mustard_bottle_collision.obj │ │ ├── mustard_bottle_visual.obj │ │ ├── nice_honey_roasted_almonds.urdf │ │ ├── nice_honey_roasted_almonds_collision.obj │ │ ├── nice_honey_roasted_almonds_visual.obj │ │ ├── nutrigrain_apple_cinnamon.urdf │ │ ├── nutrigrain_apple_cinnamon_collision.obj │ │ ├── nutrigrain_apple_cinnamon_visual.obj │ │ ├── orange.urdf │ │ ├── orange_collision.obj │ │ ├── orange_visual.obj │ │ ├── padlock.urdf │ │ ├── padlock_collision.obj │ │ ├── padlock_visual.obj │ │ ├── pan_poisson_017.urdf │ │ ├── pan_poisson_017_collision.obj │ │ ├── pan_poisson_017_visual.obj │ │ ├── peach.urdf │ │ ├── peach_collision.obj │ │ ├── peach_visual.obj │ │ ├── pear.urdf │ │ ├── pear_collision.obj │ │ ├── pear_visual.obj │ │ ├── pepto_bismol.urdf │ │ ├── pepto_bismol_collision.obj │ │ ├── pepto_bismol_visual.obj │ │ ├── philipps_screwdriver.urdf │ │ ├── philipps_screwdriver_collision.obj │ │ ├── philipps_screwdriver_visual.obj │ │ ├── pitcher_poisson_000.urdf │ │ ├── pitcher_poisson_000_collision.obj │ │ ├── pitcher_poisson_000_visual.obj │ │ ├── pitcher_poisson_001.urdf │ │ ├── pitcher_poisson_001_collision.obj │ │ ├── pitcher_poisson_001_visual.obj │ │ ├── pitcher_poisson_003.urdf │ │ ├── pitcher_poisson_003_collision.obj │ │ ├── pitcher_poisson_003_visual.obj │ │ ├── pitcher_poisson_004.urdf │ │ ├── pitcher_poisson_004_collision.obj │ │ ├── pitcher_poisson_004_visual.obj │ │ ├── pliers_poisson_015.urdf │ │ ├── pliers_poisson_015_collision.obj │ │ ├── pliers_poisson_015_visual.obj │ │ ├── pliers_poisson_017.urdf │ │ ├── pliers_poisson_017_collision.obj │ │ ├── pliers_poisson_017_visual.obj │ │ ├── plum.urdf │ │ ├── plum_collision.obj │ │ ├── plum_visual.obj │ │ ├── pop_secret_light_butter.urdf │ │ ├── pop_secret_light_butter_collision.obj │ │ ├── pop_secret_light_butter_visual.obj │ │ ├── pop_tarts_strawberry.urdf │ │ ├── pop_tarts_strawberry_collision.obj │ │ ├── pop_tarts_strawberry_visual.obj │ │ ├── potted_meat_can.urdf │ │ ├── potted_meat_can_collision.obj │ │ ├── potted_meat_can_visual.obj │ │ ├── power_drill.urdf │ │ ├── power_drill_collision.obj │ │ ├── power_drill_visual.obj │ │ ├── pringles_bbq.urdf │ │ ├── pringles_bbq_collision.obj │ │ ├── pringles_bbq_visual.obj │ │ ├── progresso_new_england_clam_chowder.urdf │ │ ├── progresso_new_england_clam_chowder_collision.obj │ │ ├── progresso_new_england_clam_chowder_visual.obj │ │ ├── pumpkin_poisson_000.urdf │ │ ├── pumpkin_poisson_000_collision.obj │ │ ├── pumpkin_poisson_000_visual.obj │ │ ├── red_bull.urdf │ │ ├── red_bull_collision.obj │ │ ├── red_bull_visual.obj │ │ ├── red_cup.urdf │ │ ├── red_cup_collision.obj │ │ ├── red_cup_visual.obj │ │ ├── rubber_duck_poisson_000.urdf │ │ ├── rubber_duck_poisson_000_collision.obj │ │ ├── rubber_duck_poisson_000_visual.obj │ │ ├── rubber_duck_poisson_001.urdf │ │ ├── rubber_duck_poisson_001_collision.obj │ │ ├── rubber_duck_poisson_001_visual.obj │ │ ├── rubber_duck_poisson_002.urdf │ │ ├── rubber_duck_poisson_002_collision.obj │ │ ├── rubber_duck_poisson_002_visual.obj │ │ ├── saucepan_poisson_000.urdf │ │ ├── saucepan_poisson_000_collision.obj │ │ ├── saucepan_poisson_000_visual.obj │ │ ├── scissors.urdf │ │ ├── scissors_collision.obj │ │ ├── scissors_visual.obj │ │ ├── screwdriver_poisson_002.urdf │ │ ├── screwdriver_poisson_002_collision.obj │ │ ├── screwdriver_poisson_002_visual.obj │ │ ├── screwdriver_poisson_006.urdf │ │ ├── screwdriver_poisson_006_collision.obj │ │ ├── screwdriver_poisson_006_visual.obj │ │ ├── screwdriver_poisson_011.urdf │ │ ├── screwdriver_poisson_011_collision.obj │ │ ├── screwdriver_poisson_011_visual.obj │ │ ├── shampoo_new_poisson_000.urdf │ │ ├── shampoo_new_poisson_000_collision.obj │ │ ├── shampoo_new_poisson_000_visual.obj │ │ ├── shampoo_new_poisson_001.urdf │ │ ├── shampoo_new_poisson_001_collision.obj │ │ ├── shampoo_new_poisson_001_visual.obj │ │ ├── shampoo_new_poisson_002.urdf │ │ ├── shampoo_new_poisson_002_collision.obj │ │ ├── shampoo_new_poisson_002_visual.obj │ │ ├── shampoo_poisson_001.urdf │ │ ├── shampoo_poisson_001_collision.obj │ │ ├── shampoo_poisson_001_visual.obj │ │ ├── softsoap_gold.urdf │ │ ├── softsoap_gold_collision.obj │ │ ├── softsoap_gold_visual.obj │ │ ├── spam.urdf │ │ ├── spam_collision.obj │ │ ├── spam_visual.obj │ │ ├── sponge.urdf │ │ ├── sponge_collision.obj │ │ ├── sponge_visual.obj │ │ ├── spongebob_squarepants_fruit_snaks.urdf │ │ ├── spongebob_squarepants_fruit_snaks_collision.obj │ │ ├── spongebob_squarepants_fruit_snaks_visual.obj │ │ ├── spray_bottle_poisson_000.urdf │ │ ├── spray_bottle_poisson_000_collision.obj │ │ ├── spray_bottle_poisson_000_visual.obj │ │ ├── spray_bottle_poisson_003.urdf │ │ ├── spray_bottle_poisson_003_collision.obj │ │ ├── spray_bottle_poisson_003_visual.obj │ │ ├── spray_can_poisson_000.urdf │ │ ├── spray_can_poisson_000_collision.obj │ │ ├── spray_can_poisson_000_visual.obj │ │ ├── stapler_poisson_002.urdf │ │ ├── stapler_poisson_002_collision.obj │ │ ├── stapler_poisson_002_visual.obj │ │ ├── stapler_poisson_007.urdf │ │ ├── stapler_poisson_007_collision.obj │ │ ├── stapler_poisson_007_visual.obj │ │ ├── stapler_poisson_010.urdf │ │ ├── stapler_poisson_010_collision.obj │ │ ├── stapler_poisson_010_visual.obj │ │ ├── starfruit_poisson_000.urdf │ │ ├── starfruit_poisson_000_collision.obj │ │ ├── starfruit_poisson_000_visual.obj │ │ ├── starfruit_poisson_002.urdf │ │ ├── starfruit_poisson_002_collision.obj │ │ ├── starfruit_poisson_002_visual.obj │ │ ├── strawberry.urdf │ │ ├── strawberry_collision.obj │ │ ├── strawberry_visual.obj │ │ ├── suave_sweet_guava_nectar_body_wash.urdf │ │ ├── suave_sweet_guava_nectar_body_wash_collision.obj │ │ ├── suave_sweet_guava_nectar_body_wash_visual.obj │ │ ├── sugar_box.urdf │ │ ├── sugar_box_collision.obj │ │ ├── sugar_box_visual.obj │ │ ├── sunkist_fruit_snacks_mixed_fruit.urdf │ │ ├── sunkist_fruit_snacks_mixed_fruit_collision.obj │ │ ├── sunkist_fruit_snacks_mixed_fruit_visual.obj │ │ ├── tape_poisson_000.urdf │ │ ├── tape_poisson_000_collision.obj │ │ ├── tape_poisson_000_visual.obj │ │ ├── tape_poisson_002.urdf │ │ ├── tape_poisson_002_collision.obj │ │ ├── tape_poisson_002_visual.obj │ │ ├── tape_poisson_004.urdf │ │ ├── tape_poisson_004_collision.obj │ │ ├── tape_poisson_004_visual.obj │ │ ├── tape_poisson_005.urdf │ │ ├── tape_poisson_005_collision.obj │ │ ├── tape_poisson_005_visual.obj │ │ ├── tetra_pak_poisson_000.urdf │ │ ├── tetra_pak_poisson_000_collision.obj │ │ ├── tetra_pak_poisson_000_visual.obj │ │ ├── tetra_pak_poisson_001.urdf │ │ ├── tetra_pak_poisson_001_collision.obj │ │ ├── tetra_pak_poisson_001_visual.obj │ │ ├── tetra_pak_poisson_002.urdf │ │ ├── tetra_pak_poisson_002_collision.obj │ │ ├── tetra_pak_poisson_002_visual.obj │ │ ├── toilet_paper_poisson_000.urdf │ │ ├── toilet_paper_poisson_000_collision.obj │ │ ├── toilet_paper_poisson_000_visual.obj │ │ ├── toilet_paper_poisson_001.urdf │ │ ├── toilet_paper_poisson_001_collision.obj │ │ ├── toilet_paper_poisson_001_visual.obj │ │ ├── toilet_paper_poisson_002.urdf │ │ ├── toilet_paper_poisson_002_collision.obj │ │ ├── toilet_paper_poisson_002_visual.obj │ │ ├── toilet_paper_poisson_003.urdf │ │ ├── toilet_paper_poisson_003_collision.obj │ │ ├── toilet_paper_poisson_003_visual.obj │ │ ├── tomato_soup_can.urdf │ │ ├── tomato_soup_can_collision.obj │ │ ├── tomato_soup_can_visual.obj │ │ ├── toothpaste_tube_poisson_002.urdf │ │ ├── toothpaste_tube_poisson_002_collision.obj │ │ ├── toothpaste_tube_poisson_002_visual.obj │ │ ├── toy_poisson_001.urdf │ │ ├── toy_poisson_001_collision.obj │ │ ├── toy_poisson_001_visual.obj │ │ ├── toy_poisson_003.urdf │ │ ├── toy_poisson_003_collision.obj │ │ ├── toy_poisson_003_visual.obj │ │ ├── toy_poisson_004.urdf │ │ ├── toy_poisson_004_collision.obj │ │ ├── toy_poisson_004_visual.obj │ │ ├── toy_poisson_008.urdf │ │ ├── toy_poisson_008_collision.obj │ │ ├── toy_poisson_008_visual.obj │ │ ├── toy_poisson_011.urdf │ │ ├── toy_poisson_011_collision.obj │ │ ├── toy_poisson_011_visual.obj │ │ ├── toy_poisson_016.urdf │ │ ├── toy_poisson_016_collision.obj │ │ ├── toy_poisson_016_visual.obj │ │ ├── toy_poisson_022.urdf │ │ ├── toy_poisson_022_collision.obj │ │ ├── toy_poisson_022_visual.obj │ │ ├── toy_poisson_025.urdf │ │ ├── toy_poisson_025_collision.obj │ │ ├── toy_poisson_025_visual.obj │ │ ├── tuna_fish_can.urdf │ │ ├── tuna_fish_can_collision.obj │ │ ├── tuna_fish_can_visual.obj │ │ ├── v8_fusion_peach_mango.urdf │ │ ├── v8_fusion_peach_mango_collision.obj │ │ ├── v8_fusion_peach_mango_visual.obj │ │ ├── vase_poisson_004.urdf │ │ ├── vase_poisson_004_collision.obj │ │ ├── vase_poisson_004_visual.obj │ │ ├── vo5_extra_body_volumizing_shampoo.urdf │ │ ├── vo5_extra_body_volumizing_shampoo_collision.obj │ │ ├── vo5_extra_body_volumizing_shampoo_visual.obj │ │ ├── watering_can_poisson_001.urdf │ │ ├── watering_can_poisson_001_collision.obj │ │ ├── watering_can_poisson_001_visual.obj │ │ ├── white_rain_sensations_apple_blossom_hydrating_body_wash.urdf │ │ ├── white_rain_sensations_apple_blossom_hydrating_body_wash_collision.obj │ │ ├── white_rain_sensations_apple_blossom_hydrating_body_wash_visual.obj │ │ ├── wrench_poisson_005.urdf │ │ ├── wrench_poisson_005_collision.obj │ │ ├── wrench_poisson_005_visual.obj │ │ ├── wrench_poisson_013.urdf │ │ ├── wrench_poisson_013_collision.obj │ │ └── wrench_poisson_013_visual.obj │ └── setup │ ├── box.obj │ ├── box.urdf │ ├── plane.obj │ └── plane.urdf ├── edge_grasp_net_pretrained_para └── checkpoints │ ├── classifier_model-ckpt-180.pt │ ├── global_emd_model-ckpt-180.pt │ └── local_emd_model-ckpt-180.pt ├── image └── grasp_example.png ├── models ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── dataset_processor.cpython-37.pyc │ ├── edge_grasp_network.cpython-37.pyc │ ├── edge_grasper.cpython-37.pyc │ ├── transform.cpython-37.pyc │ ├── utils.cpython-37.pyc │ ├── vn_edge_grasp_network.cpython-37.pyc │ ├── vn_edge_grasper.cpython-37.pyc │ └── vn_pointnetpp.cpython-37.pyc ├── dataset_processor.py ├── edge_grasp_network.py ├── edge_grasper.py ├── transform.py ├── utils.py ├── vn_edge_grasp_network.py ├── vn_edge_grasper.py └── vn_pointnetpp.py ├── plot_test_loss_and_accuracy.py ├── simulator ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── btsim.cpython-37.pyc │ ├── grasp.cpython-37.pyc │ ├── io_smi.cpython-37.pyc │ ├── perception.cpython-37.pyc │ ├── simulation_clutter_bandit.cpython-37.pyc │ ├── transform.cpython-37.pyc │ ├── utility.cpython-37.pyc │ └── workspace_lines.cpython-37.pyc ├── btsim.py ├── grasp.py ├── io_smi.py ├── perception.py ├── simulation_clutter_bandit.py ├── transform.py ├── utility.py └── workspace_lines.py ├── test_clutter_grasp.py ├── train.py └── vn_edge_pretrained_para └── checkpoints ├── classifier_model-ckpt-105.pt ├── global_emd_model-ckpt-105.pt ├── local_emd_model-ckpt-105.pt └── std-ckpt-105.pt /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HaojHuang/Edge-Grasp-Network/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HaojHuang/Edge-Grasp-Network/HEAD/README.md -------------------------------------------------------------------------------- /clutter_grasp_data_generator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HaojHuang/Edge-Grasp-Network/HEAD/clutter_grasp_data_generator.py -------------------------------------------------------------------------------- /data_robot/egad_eval_set/A0.obj: 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