├── README.md ├── __pycache__ ├── params.cpython-38.pyc └── tactile_render.cpython-38.pyc ├── assets ├── daniel │ ├── cone.stl │ ├── cross_lines.stl │ ├── curved_surface.stl │ ├── cylinder.stl │ ├── cylinder_shell.stl │ ├── cylinder_side.stl │ ├── dot_in.stl │ ├── dots.stl │ ├── flat_slab.stl │ ├── hexagon.stl │ ├── line.stl │ ├── moon.stl │ ├── pacman.stl │ ├── parallel_lines.stl │ ├── prism.stl │ ├── random.stl │ ├── sphere.stl │ ├── sphere2.stl │ ├── torus.stl │ ├── triangle.stl │ └── wave1.stl └── gel │ ├── digit_bg.npy │ ├── digit_bg.png │ ├── gelsight_bg.npy │ └── gelsight_bg.png ├── fots_test.py ├── marker_calib ├── README.md ├── data │ ├── 0.csv │ ├── 0.png │ ├── 1.csv │ ├── 1.png │ ├── 2.csv │ ├── 2.png │ ├── 3.csv │ ├── 3.png │ ├── 4.csv │ ├── 4.png │ ├── 5.csv │ └── 5.png ├── gelsight_bg.npy ├── marker_calib.py └── marker_tracking │ ├── __init__.py │ ├── __pycache__ │ ├── fit_grid.cpython-38.pyc │ ├── gs_utils.cpython-38.pyc │ ├── markertracker.cpython-38.pyc │ └── normxcorr2.cpython-38.pyc │ ├── fit_grid.py │ ├── flow.mov │ ├── gs_utils.py │ ├── markertracker.py │ ├── normxcorr2.py │ ├── optical_flow_marker_tracking.py │ └── readme.md ├── mlp_calib ├── 0000.png ├── README.md ├── config │ └── normal_to_rgb.yaml ├── csv │ └── annotate.csv ├── datasets │ ├── A │ │ ├── csv │ │ │ ├── combined.csv │ │ │ ├── image_0.csv │ │ │ ├── image_1.csv │ │ │ ├── image_10.csv │ │ │ ├── image_11.csv │ │ │ ├── image_12.csv │ │ │ ├── image_13.csv │ │ │ ├── image_14.csv │ │ │ ├── image_15.csv │ │ │ ├── image_16.csv │ │ │ ├── image_17.csv │ │ │ ├── image_18.csv │ │ │ ├── image_19.csv │ │ │ ├── image_2.csv │ │ │ ├── image_20.csv │ │ │ ├── image_21.csv │ │ │ ├── image_22.csv │ │ │ ├── image_23.csv │ │ │ ├── image_24.csv │ │ │ ├── image_25.csv │ │ │ ├── image_26.csv │ │ │ ├── image_27.csv │ │ │ ├── image_28.csv │ │ │ ├── image_29.csv │ │ │ ├── image_3.csv │ │ │ ├── image_30.csv │ │ │ ├── image_31.csv │ │ │ ├── image_32.csv │ │ │ ├── image_33.csv │ │ │ ├── image_34.csv │ │ │ ├── image_35.csv │ │ │ ├── image_36.csv │ │ │ ├── image_37.csv │ │ │ ├── image_38.csv │ │ │ ├── image_39.csv │ │ │ ├── image_4.csv │ │ │ ├── image_40.csv │ │ │ ├── image_41.csv │ │ │ ├── image_5.csv │ │ │ ├── image_6.csv │ │ │ ├── image_7.csv │ │ │ ├── image_8.csv │ │ │ └── image_9.csv │ │ └── imgs │ │ │ ├── 0000.png │ │ │ ├── 0001.png │ │ │ ├── 0002.png │ │ │ ├── 0003.png │ │ │ ├── 0004.png │ │ │ ├── 0005.png │ │ │ ├── 0006.png │ │ │ ├── 0007.png │ │ │ ├── 0008.png │ │ │ ├── 0009.png │ │ │ ├── 0010.png │ │ │ ├── 0011.png │ │ │ ├── 0012.png │ │ │ ├── 0013.png │ │ │ ├── 0014.png │ │ │ ├── 0015.png │ │ │ ├── 0016.png │ │ │ ├── 0017.png │ │ │ ├── 0018.png │ │ │ ├── 0019.png │ │ │ ├── 0020.png │ │ │ ├── 0021.png │ │ │ ├── 0022.png │ │ │ ├── 0023.png │ │ │ ├── 0024.png │ │ │ ├── 0025.png │ │ │ ├── 0026.png │ │ │ ├── 0027.png │ │ │ ├── 0028.png │ │ │ ├── 0029.png │ │ │ ├── 0030.png │ │ │ ├── 0031.png │ │ │ ├── 0032.png │ │ │ ├── 0033.png │ │ │ ├── 0034.png │ │ │ ├── 0035.png │ │ │ ├── 0036.png │ │ │ ├── 0037.png │ │ │ ├── 0038.png │ │ │ ├── 0039.png │ │ │ ├── 0040.png │ │ │ └── 0041.png │ ├── B │ │ ├── csv │ │ │ ├── combined.csv │ │ │ ├── image_0.csv │ │ │ ├── image_1.csv │ │ │ ├── image_10.csv │ │ │ ├── image_11.csv │ │ │ ├── image_12.csv │ │ │ ├── image_13.csv │ │ │ ├── image_14.csv │ │ │ ├── image_15.csv │ │ │ ├── image_16.csv │ │ │ ├── image_17.csv │ │ │ ├── image_18.csv │ │ │ ├── image_19.csv │ │ │ ├── image_2.csv │ │ │ ├── image_20.csv │ │ │ ├── image_21.csv │ │ │ ├── image_22.csv │ │ │ ├── image_23.csv │ │ │ ├── image_24.csv │ │ │ ├── image_25.csv │ │ │ ├── image_26.csv │ │ │ ├── image_27.csv │ │ │ ├── image_28.csv │ │ │ ├── image_29.csv │ │ │ ├── image_3.csv │ │ │ ├── image_30.csv │ │ │ ├── image_31.csv │ │ │ ├── image_32.csv │ │ │ ├── image_33.csv │ │ │ ├── image_34.csv │ │ │ ├── image_35.csv │ │ │ ├── image_36.csv │ │ │ ├── image_37.csv │ │ │ ├── image_38.csv │ │ │ ├── image_39.csv │ │ │ ├── image_4.csv │ │ │ ├── image_40.csv │ │ │ ├── image_41.csv │ │ │ ├── image_5.csv │ │ │ ├── image_6.csv │ │ │ ├── image_7.csv │ │ │ ├── image_8.csv │ │ │ └── image_9.csv │ │ └── imgs │ │ │ ├── 0000.png │ │ │ ├── 0001.png │ │ │ ├── 0002.png │ │ │ ├── 0003.png │ │ │ ├── 0004.png │ │ │ ├── 0005.png │ │ │ ├── 0006.png │ │ │ ├── 0007.png │ │ │ ├── 0008.png │ │ │ ├── 0009.png │ │ │ ├── 0010.png │ │ │ ├── 0011.png │ │ │ ├── 0012.png │ │ │ ├── 0013.png │ │ │ ├── 0014.png │ │ │ ├── 0015.png │ │ │ ├── 0016.png │ │ │ ├── 0017.png │ │ │ ├── 0018.png │ │ │ ├── 0019.png │ │ │ ├── 0020.png │ │ │ ├── 0021.png │ │ │ ├── 0022.png │ │ │ ├── 0023.png │ │ │ ├── 0024.png │ │ │ ├── 0025.png │ │ │ ├── 0026.png │ │ │ ├── 0027.png │ │ │ ├── 0028.png │ │ │ ├── 0029.png │ │ │ ├── 0030.png │ │ │ ├── 0031.png │ │ │ ├── 0032.png │ │ │ ├── 0033.png │ │ │ ├── 0034.png │ │ │ ├── 0035.png │ │ │ ├── 0036.png │ │ │ ├── 0037.png │ │ │ ├── 0038.png │ │ │ ├── 0039.png │ │ │ ├── 0040.png │ │ │ └── 0041.png │ └── train_test_split │ │ ├── clean-data.csv │ │ ├── non_zeros.csv │ │ ├── test.csv │ │ ├── train.csv │ │ └── zeros.csv ├── digit │ ├── 0000.png │ ├── 0001.png │ ├── 0002.png │ ├── 0003.png │ ├── 0004.png │ ├── 0005.png │ ├── 0006.png │ ├── 0007.png │ ├── 0008.png │ ├── 0009.png │ ├── 0010.png │ ├── 0011.png │ ├── 0012.png │ ├── 0013.png │ ├── 0014.png │ ├── 0015.png │ ├── 0016.png │ ├── 0017.png │ ├── 0018.png │ ├── 0019.png │ ├── 0020.png │ ├── 0021.png │ ├── 0022.png │ ├── 0023.png │ ├── 0024.png │ ├── 0025.png │ ├── 0026.png │ ├── 0027.png │ ├── 0028.png │ ├── 0029.png │ ├── 0030.png │ ├── 0031.png │ ├── 0032.png │ ├── 0033.png │ ├── 0034.png │ ├── 0035.png │ ├── 0036.png │ ├── 0037.png │ ├── 0038.png │ ├── 0039.png │ ├── 0040.png │ └── 0041.png ├── gelsight │ ├── 0001.png │ ├── 0002.png │ ├── 0003.png │ ├── 0004.png │ ├── 0005.png │ ├── 0006.png │ ├── 0007.png │ ├── 0008.png │ ├── 0009.png │ ├── 0010.png │ ├── 0011.png │ ├── 0012.png │ ├── 0013.png │ ├── 0014.png │ ├── 0015.png │ ├── 0016.png │ ├── 0017.png │ ├── 0018.png │ ├── 0019.png │ ├── 0020.png │ ├── 0021.png │ ├── 0022.png │ ├── 0023.png │ ├── 0024.png │ ├── 0025.png │ ├── 0026.png │ ├── 0027.png │ ├── 0028.png │ ├── 0029.png │ ├── 0030.png │ ├── 0031.png │ ├── 0032.png │ ├── 0033.png │ ├── 0034.png │ ├── 0035.png │ ├── 0036.png │ ├── 0037.png │ ├── 0038.png │ ├── 0039.png │ ├── 0040.png │ ├── 0041.png │ └── 0042.png ├── models │ ├── mlp_n2c_digit.pth │ └── mlp_n2c_gelsight.pth ├── scripts │ ├── 0.png │ ├── 0000.png │ ├── __init__.py │ ├── create_image_dataset.py │ ├── label_data.py │ ├── record.py │ ├── test.py │ └── train_mlp.py ├── setup.py └── src │ ├── __init__.py │ ├── __pycache__ │ └── __init__.cpython-38.pyc │ ├── dataio │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── combine_A_and_B.cpython-38.pyc │ │ ├── create_csv.cpython-38.pyc │ │ ├── data_loader.cpython-38.pyc │ │ ├── digit_dataset.cpython-38.pyc │ │ └── generate_sphere_gt_normals.cpython-38.pyc │ ├── combine_A_and_B.py │ ├── create_csv.py │ ├── data_loader.py │ ├── digit_dataset.py │ └── generate_sphere_gt_normals.py │ ├── digit │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ └── digit_sensor.cpython-38.pyc │ └── digit_sensor.py │ ├── handlers │ └── image.py │ ├── third_party │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── data_utils.cpython-38.pyc │ │ ├── geom_utils.cpython-38.pyc │ │ ├── poisson.cpython-38.pyc │ │ └── vis_utils.cpython-38.pyc │ ├── data_utils.py │ ├── geom_utils.py │ ├── poisson.py │ └── vis_utils.py │ └── train │ ├── __pycache__ │ └── mlp_model.cpython-38.pyc │ ├── color2normal_dataset.py │ └── mlp_model.py ├── params.py ├── requirements.txt ├── shadow_calib ├── __pycache__ │ └── planar_shadow.cpython-38.pyc ├── planar_shadow.py ├── shadow_calib.py └── shadow_data │ ├── sphere_1.png │ ├── sphere_2.png │ ├── sphere_3.png │ ├── sphere_4.png │ └── sphere_5.png ├── tactile_render.py └── utils ├── __init__.py ├── __pycache__ ├── __init__.cpython-38.pyc ├── fots_render.cpython-38.pyc ├── 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