├── .gitignore ├── LICENSE ├── README.md ├── assets ├── data │ ├── placing_scene_0.npy │ ├── placing_scene_1.npy │ └── transitioning_scene_0.npy ├── fig │ ├── placing_example_0_color.jpg │ ├── placing_example_0_point_cloud.png │ ├── waypoint_example_color.png │ └── waypoint_example_point_cloud.png ├── readme1.gif ├── readme2.gif ├── readme3.gif ├── readme_data.gif └── robot │ ├── franka │ ├── franka_panda.urdf │ └── meshes │ │ ├── collision │ │ ├── finger.obj │ │ ├── hand.obj │ │ ├── link0.obj │ │ ├── link1.obj │ │ ├── link2.obj │ │ ├── link3.obj │ │ ├── link4.obj │ │ ├── link5.obj │ │ ├── link6.obj │ │ └── link7.obj │ │ └── visual │ │ ├── finger.dae │ │ ├── hand.dae │ │ ├── link0.dae │ │ ├── link1.dae │ │ ├── link2.dae │ │ ├── link3.dae │ │ ├── link4.dae │ │ ├── link5.dae │ │ ├── link6.dae │ │ └── link7.dae │ └── panda │ ├── enlarged │ ├── gripper-1.obj │ ├── gripper-2.obj │ ├── gripper-3.obj │ ├── gripper-4.obj │ ├── gripper-5.obj │ └── gripper-6.obj │ ├── original │ └── gripper.obj │ ├── panda.npy │ ├── panda_gripper │ ├── finger.stl │ └── hand.stl │ └── panda_pc.npy ├── conda └── environment.yaml ├── examples ├── demo_placement.py ├── demo_waypoint.py ├── train_collision_prediction.py └── train_waypoint_prediction.py ├── pointnet2 ├── LICENSE ├── README.md ├── pointnet2 │ ├── __init__.py │ ├── pointnet2_modules.py │ ├── pointnet2_utils.py │ ├── pytorch_utils.py │ └── src │ │ ├── ball_query.cpp │ │ ├── ball_query_gpu.cu │ │ ├── ball_query_gpu.h │ │ ├── cuda_utils.h │ │ ├── group_points.cpp │ │ ├── group_points_gpu.cu │ │ ├── group_points_gpu.h │ │ ├── interpolate.cpp │ │ ├── interpolate_gpu.cu │ │ ├── interpolate_gpu.h │ │ ├── pointnet2_api.cpp │ │ ├── sampling.cpp │ │ ├── sampling_gpu.cu │ │ └── sampling_gpu.h ├── setup.py └── tools │ ├── _init_path.py │ ├── dataset.py │ ├── kitti_utils.py │ ├── pointnet2_msg.py │ └── train_and_eval.py ├── pyproject.toml ├── setup.cfg ├── setup.py └── src └── cabi_net ├── __init__.py ├── collision_models ├── __init__.py └── 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