├── .gitignore ├── README.md ├── asset ├── banner.gif ├── banner.mp4 ├── hardware_setup.jpg └── method-overview.gif ├── constraint_solver ├── action_parser.py ├── draw_arrow.py ├── main_infer_trans.py └── spatial_solver │ ├── __init__.py │ ├── constraint.py │ ├── elements.py │ ├── parser.py │ ├── solver.py │ └── transform.py ├── demo.py ├── graspnet ├── .gitignore ├── command_demo.sh ├── command_test.sh ├── command_train.sh ├── dataset │ ├── bullet_dataset.py │ ├── command_generate_tolerance_label.sh │ ├── generate_tolerance_label.py │ └── graspnet_dataset.py ├── demo.py ├── demo_filter_grasp.py ├── doc │ ├── example_data │ │ ├── color.png │ │ ├── demo_result.png │ │ ├── depth.png │ │ ├── meta.mat │ │ └── workspace_mask.png │ └── teaser.png ├── knn │ ├── knn_modules.py │ ├── setup.py │ └── src │ │ ├── cpu │ │ ├── knn_cpu.cpp │ │ └── vision.h │ │ ├── cuda │ │ ├── knn.cu │ │ └── vision.h │ │ ├── knn.h │ │ └── vision.cpp ├── main_to_ros.py ├── models │ ├── backbone.py │ ├── graspnet.py │ ├── loss.py │ └── modules.py ├── pointnet2 │ ├── _ext_src │ │ ├── include │ │ │ ├── ball_query.h │ │ │ ├── cuda_utils.h │ │ │ ├── cylinder_query.h │ │ │ ├── group_points.h │ │ │ ├── interpolate.h │ │ │ ├── sampling.h │ │ │ └── utils.h │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_gpu.cu │ │ │ ├── bindings.cpp │ │ │ ├── cylinder_query.cpp │ │ │ ├── cylinder_query_gpu.cu │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── sampling.cpp │ │ │ └── sampling_gpu.cu │ ├── pointnet2_modules.py │ ├── pointnet2_utils.py │ ├── pytorch_utils.py │ └── setup.py ├── requirements.txt ├── test.py ├── train.py ├── utils │ ├── collision_detector.py │ ├── data_utils.py │ ├── grasp_projection.py │ ├── label_generation.py │ ├── loss_utils.py │ ├── motion_planner.py │ └── ros_adapter.py └── visualize.py ├── real_world ├── CMakeLists.txt ├── README.md ├── behavior │ └── behavior.py ├── functional_grasp │ └── functional_grasp.py ├── generate_point_cloud │ ├── CMakeLists.txt │ ├── launch │ │ └── generate_point_cloud.launch │ └── scripts │ │ ├── generate_point_cloud.py │ │ └── visualize.py ├── get_point_cloud │ ├── CMakeLists.txt │ ├── launch │ │ └── get_point_cloud.launch │ └── scripts │ │ └── get_point_cloud.py ├── package.xml ├── point_cloud_snapshot │ └── point_cloud_snapshot.py ├── robot_homing │ ├── CMakeLists.txt │ ├── launch │ │ └── robot_homing.launch │ └── scripts │ │ └── robot_homing.py ├── robot_states_monitor │ ├── CMakeLists.txt │ ├── launch │ │ └── robot_states_monitor.launch │ └── scripts │ │ └── robot_states_monitor.py └── trajectory_recorder │ ├── CMakeLists.txt │ ├── launch │ └── trajectory_recorder.launch │ ├── scripts │ └── trajectory_recorder.py │ └── trajectory_recorder.py └── som_gpt4v ├── .gitignore ├── CODE_OF_CONDUCT.md ├── LICENSE ├── README.md ├── SECURITY.md ├── SUPPORT.md ├── assets ├── method2_xyz.png ├── som_bench_bottom.jpg ├── som_bench_upper.jpg ├── som_gpt4v_demo.mp4 ├── som_logo.png ├── som_toolbox_interface.jpg └── teaser.png ├── benchmark └── README.md ├── camera_extrinsic2.npy ├── configs ├── seem_focall_unicl_lang_v1.yaml └── semantic_sam_only_sa-1b_swinL.yaml ├── dataset_tasks.py ├── demo_functional_grasp.py ├── demo_gpt4v_som.py ├── demo_som.py ├── download_ckpt.sh ├── draw_arrow.py ├── examples ├── gpt-4v-som-example.jpg ├── ironing_man.jpg ├── ironing_man_som.png └── som_logo.png ├── first_prompt ├── prompt1.png ├── prompt1.txt ├── prompt2.png ├── prompt2.txt ├── prompt3.png ├── prompt3.txt └── prompt4.txt ├── gpt4v.py ├── gpt4v_azure.py ├── main_behavior.py ├── main_constraint.py ├── main_grasp.py ├── mask_filters.py ├── ops ├── functions │ ├── __init__.py │ └── ms_deform_attn_func.py ├── make.sh ├── modules │ ├── __init__.py │ └── ms_deform_attn.py ├── setup.py ├── src │ ├── cpu │ │ ├── ms_deform_attn_cpu.cpp │ │ └── ms_deform_attn_cpu.h │ ├── cuda │ │ ├── ms_deform_attn_cuda.cu │ │ ├── ms_deform_attn_cuda.h │ │ └── ms_deform_im2col_cuda.cuh 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