├── LICENSE ├── README.md ├── funcgra ├── .idea ├── LICENSE ├── README.md ├── assets │ └── problem_setting.gif ├── clip │ ├── README.md │ ├── config.json │ ├── flax_model.msgpack │ ├── gitattributes │ ├── merges.txt │ ├── preprocessor_config.json │ ├── pytorch_model.bin │ ├── special_tokens_map.json │ ├── tf_model.h5 │ ├── tokenizer.json │ ├── tokenizer_config.json │ └── vocab.json ├── configs │ ├── config.py │ ├── config.yaml │ ├── config1.yaml │ ├── config_rekep.yaml │ ├── obj_meta.json │ └── real_obj_meta.json ├── data │ ├── datatest.py │ ├── datatest_func.py │ ├── datatrain.py │ ├── datatrain0.py │ └── datatrain_16.py ├── models │ ├── dino │ │ ├── utils.py │ │ └── vision_transformer.py │ ├── ego_keypoint_mutilayer.py │ ├── keypoint.py │ ├── model_util.py │ ├── transform_utils.py │ └── utils.py ├── requirements.txt ├── robot_control.py ├── robot_control_click_the_flashlight.py ├── robot_control_hold_the_kettle.py ├── robot_control_press_the_drill.py ├── robot_control_press_the_spraybottle.py ├── segment_anything │ ├── __init__.py │ ├── automatic_mask_generator.py │ ├── build_sam.py │ ├── modeling │ │ ├── __init__.py │ │ ├── common.py │ │ ├── image_encoder.py │ │ ├── mask_decoder.py │ │ ├── prompt_encoder.py │ │ ├── sam.py │ │ └── transformer.py │ ├── predictor.py │ └── utils │ │ ├── __init__.py │ │ ├── amg.py │ │ ├── onnx.py │ │ └── transforms.py ├── test.py ├── train.py └── utils │ ├── evaluation.py │ ├── genpose_utils.py │ ├── misc.py │ ├── transforms │ ├── __init__.py │ ├── math.py │ ├── rotation_conversions.py │ ├── se3.py │ ├── so3.py │ ├── transform3d.py │ └── workaround │ │ ├── __init__.py │ │ ├── symeig3x3.py │ │ └── utils.py │ ├── util.py │ └── viz.py ├── isaacgym ├── README.txt ├── create_conda_env_rlgpu.sh ├── licenses │ ├── assets │ │ ├── ant-LICENSE.txt │ │ ├── anymal-LICENSE.txt │ │ ├── cartpole-LICENSE.txt │ │ ├── franka-LICENSE.txt │ │ ├── humanoid-LICENSE.txt │ │ ├── jacokinova-LICENSE.txt │ │ ├── kukaiiwa-LICENSE.txt │ │ ├── open_ai_assets-LICENSE.txt │ │ ├── pixabay-LICENSE.txt │ │ ├── textures-LICENSE.txt │ │ ├── tray-LICENSE.txt │ │ └── ycb-LICENSE.txt │ ├── oss │ │ ├── nlohmann-json-LICENSE.txt │ │ ├── stb-LICENSE.txt │ │ └── tinyxml-LICENSE.txt │ └── packages │ │ ├── IlmBase-LICENSE.txt │ │ ├── assimp-LICENSE.txt │ │ ├── boost-LICENSE.txt │ │ ├── cuda-LICENSE.txt │ │ ├── embree-LICENSE.txt │ │ ├── fmt-LICENSE.txt │ │ ├── glew-LICENSE.txt │ │ ├── glfw-LICENSE.txt │ │ ├── glm-LICENSE.txt │ │ ├── imgui-LICENSE.txt │ │ ├── jemalloc-LICENSE.txt │ │ ├── openexr-LICENSE.txt │ │ ├── opensubdiv-LICENSE.txt │ │ ├── ptex-LICENSE.txt │ │ ├── pybind11-LICENSE.txt │ │ ├── python36-LICENSE.txt │ │ ├── python37-LICENSE.txt │ │ ├── tbb-LICENSE.txt │ │ ├── usd-LICENSE.txt │ │ ├── vhacd-LICENSE.md │ │ └── vulkan-LICENSE.txt ├── python │ ├── LICENSE.txt │ ├── examples │ │ ├── hand_move_to_drill_hold_no_pengzhuang.py │ │ ├── hand_move_to_drill_press_test.py │ │ ├── hand_move_to_flashlight_click.py │ │ └── 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