├── .gitignore ├── LICENSE ├── Licenses ├── README.md ├── assets ├── readme1.gif ├── readme2.gif ├── readme3.gif └── rviz_gui.gif ├── config ├── franka_fabric_config.yaml └── franka_robot_description.yaml ├── docker └── Dockerfile ├── interactive_demo ├── mpinets_msgs │ ├── CMakeLists.txt │ ├── msg │ │ └── PlanningProblem.msg │ └── package.xml └── mpinets_ros │ ├── CMakeLists.txt │ ├── launch │ └── visualize.launch │ ├── meshes │ ├── LICENSE │ └── half_open_gripper.stl │ ├── nodes │ ├── interaction_node.py │ └── planning_node.py │ ├── package.xml │ ├── rviz │ └── config.rviz │ └── setup.py ├── jobconfig.yaml ├── mpinets ├── __init__.py ├── data_loader.py ├── data_pipeline │ ├── __init__.py │ ├── environments │ │ ├── __init__.py │ │ ├── base_environment.py │ │ ├── cubby_environment.py │ │ ├── dresser_environment.py │ │ └── tabletop_environment.py │ ├── gen_data.py │ └── process_data.py ├── geometry.py ├── loss.py ├── metrics.py ├── model.py ├── mpinets_types.py ├── run_inference.py ├── 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