├── .gitignore ├── README.md ├── code ├── .DS_Store ├── airbot │ ├── __pycache__ │ │ └── airbot.cpython-36.pyc │ ├── airbot.py │ ├── all │ │ ├── LJ_01.png │ │ ├── LJ_02.png │ │ ├── LJ_03.png │ │ ├── LJ_04.png │ │ ├── LJ_05.png │ │ ├── LJ_06.png │ │ ├── LJ_07.png │ │ ├── TEX.png │ │ ├── TEX1.png │ │ ├── TEX2.png │ │ ├── TEX3.png │ │ ├── TEX4.png │ │ ├── base_link.mtl │ │ ├── base_link.obj │ │ ├── base_link.obj.convex.stl │ │ ├── gripper_link.mtl │ │ ├── gripper_link.obj │ │ ├── gripper_link.obj.convex.stl │ │ ├── gripper_link.obj.convex.stl.convex.stl │ │ ├── gripper_link10.mtl │ │ ├── gripper_link10.obj │ │ ├── gripper_link10.obj.convex.stl │ │ ├── gripper_link10.obj.convex.stl.convex.stl │ │ ├── gripper_link11.mtl │ │ ├── gripper_link11.obj │ │ ├── gripper_link11.obj.convex.stl │ │ ├── gripper_link11.obj.convex.stl.convex.stl │ │ ├── gripper_link20.mtl │ │ ├── gripper_link20.obj │ │ ├── gripper_link20.obj.convex.stl │ │ ├── gripper_link20.obj.convex.stl.convex.stl │ │ ├── gripper_link21.mtl │ │ ├── gripper_link21.obj │ │ ├── gripper_link21.obj.convex.stl │ │ ├── gripper_link21.obj.convex.stl.convex.stl │ │ ├── link1.mtl │ │ ├── link1.obj │ │ ├── link1.obj.convex.stl │ │ ├── link2.STL │ │ ├── link2.mtl │ │ ├── link2.obj │ │ ├── link2.obj.convex.stl │ │ ├── link3.STL │ │ ├── link3.mtl │ │ ├── link3.obj │ │ ├── link3.obj.convex.stl │ │ ├── link4.mtl │ │ ├── link4.obj │ │ ├── link4.obj.convex.stl │ │ ├── link5.mtl │ │ ├── link5.obj │ │ ├── link5.obj.convex.stl │ │ ├── link6.mtl │ │ ├── link6.obj │ │ ├── link6.obj.convex.stl │ │ ├── logo.png │ │ ├── lunzi.png │ │ ├── rm2_1122.mtl │ │ ├── rm2_1122.obj │ │ ├── rm2_1122.obj.convex.stl │ │ ├── steering_left_front.STL │ │ ├── steering_left_front.STL.convex.stl │ │ ├── steering_right_front.STL │ │ ├── steering_right_front.STL.convex.stl │ │ ├── wheel.obj │ │ └── wheel_1122.mtl │ └── urdf_obj │ │ ├── AIRBOT_V3_v2-3.urdf │ │ ├── AIRBOT_V3_v2.csv │ │ ├── AIRBOT_hand.urdf │ │ ├── AIRBOT_hand_origin.urdf │ │ ├── URDF-1116 │ │ └── 00-disr-assy_asm │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ └── joint_names_00-disr-assy_asm.yaml │ │ │ ├── export.log │ │ │ ├── launch │ │ │ ├── display.launch │ │ │ └── gazebo.launch │ │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.STL.convex.stl │ │ │ ├── link1.STL │ │ │ ├── link1.STL.convex.stl │ │ │ ├── link2.STL │ │ │ ├── link2.STL.convex.stl │ │ │ ├── link3.STL │ │ │ ├── link3.STL.convex.stl │ │ │ ├── link4.STL │ │ │ ├── link4.STL.convex.stl │ │ │ ├── link5.STL │ │ │ ├── link5.STL.convex.stl │ │ │ ├── link6.STL │ │ │ └── link6.STL.convex.stl │ │ │ ├── package.xml │ │ │ └── urdf │ │ │ ├── 00-disr-assy_asm.csv │ │ │ ├── 00-disr-assy_asm.urdf │ │ │ └── 00-disr-assy_asm │ │ │ └── 00-disr-assy_asm.usd │ │ └── ╓╩┴┐╩Ї╨╘╩ф│Ў╩¤╛▌.txt ├── blender_utils │ ├── camera.blend │ ├── cube.obj │ ├── geometry_utils.py │ ├── quaternion.py │ ├── render_blender.py │ └── render_using_blender.py ├── camera.py ├── data.py ├── data_collection │ ├── collect_data.py │ ├── collect_data_fir.py │ ├── collect_data_main_fir.py │ └── collect_data_main_sec.py ├── env.py ├── eval │ ├── eval_generate_scene.py │ ├── eval_generate_scene_main.py │ ├── eval_inference_scene_main_fir.py │ ├── eval_inference_scene_main_sec.py │ ├── eval_manipulate_scene_fir.py │ ├── eval_manipulate_scene_main_fir.py │ ├── eval_manipulate_scene_main_sec.py │ └── eval_manipulate_scene_sec.py ├── models │ ├── .DS_Store │ ├── SAC.py │ ├── __pycache__ │ │ ├── SAC.cpython-36.pyc │ │ ├── model_3d_legacy.cpython-36.pyc │ │ ├── model_actor_fir.cpython-36.pyc │ │ ├── model_actor_sec.cpython-36.pyc │ │ ├── model_aff_fir.cpython-36.pyc │ │ ├── model_aff_sec.cpython-36.pyc │ │ ├── model_critic_fir.cpython-36.pyc │ │ └── model_critic_sec.cpython-36.pyc │ ├── model_3d_legacy.py │ ├── model_actor_fir.py │ ├── model_actor_sec.py │ ├── model_aff_fir.py │ ├── model_aff_sec.py │ ├── model_critic_fir.py │ ├── model_critic_sec.py │ ├── pointnet2 │ │ ├── __init__.py │ │ ├── _version.py │ │ ├── config │ │ │ ├── config.yaml │ │ │ ├── model │ │ │ │ ├── msg.yaml │ │ │ │ └── ssg.yaml │ │ │ ├── task │ │ │ │ ├── cls.yaml │ │ │ │ └── semseg.yaml │ │ │ └── task_model │ │ │ │ ├── cls-msg.yaml │ │ │ │ ├── cls-ssg.yaml │ │ │ │ ├── semseg-msg.yaml │ │ │ │ └── semseg-ssg.yaml │ │ ├── data │ │ │ ├── Indoor3DSemSegLoader.py │ │ │ ├── ModelNet40Loader.py │ │ │ ├── __init__.py │ │ │ └── data_utils.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── pointnet2_msg_cls.py │ │ │ ├── pointnet2_msg_sem.py │ │ │ ├── pointnet2_ssg_cls.py │ │ │ └── pointnet2_ssg_sem.py │ │ └── train.py │ └── pointnet2_ops │ │ ├── __init__.py │ │ ├── _ext-src │ │ ├── include │ │ │ ├── ball_query.h │ │ │ ├── cuda_utils.h │ │ │ ├── group_points.h │ │ │ ├── interpolate.h │ │ │ ├── sampling.h │ │ │ └── utils.h │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_gpu.cu │ │ │ ├── bindings.cpp │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── sampling.cpp │ │ │ └── sampling_gpu.cu │ │ ├── _version.py │ │ ├── pointnet2_modules.py │ │ └── pointnet2_utils.py ├── process_pc.py ├── score_pregrasping.py ├── scripts │ ├── .DS_Store │ ├── run_collect_random_train_fir.sh │ ├── run_collect_random_train_sec.sh │ ├── run_eval_generate_dataset.sh │ ├── run_eval_infer_fir.sh │ ├── run_eval_infer_sec.sh │ ├── run_eval_manipulate_fir.sh │ ├── run_eval_manipulate_sec.sh │ ├── run_process_pc.sh │ ├── run_score_pregrasping.sh │ ├── run_train_actor_fir.sh │ ├── run_train_actor_sec.sh │ ├── run_train_affordance_fir.sh │ ├── run_train_affordance_sec.sh │ ├── run_train_critic_fir.sh │ └── run_train_critic_sec.sh ├── train │ ├── train_actor.py │ ├── train_affordance.py │ └── train_critic.py └── utils.py ├── images └── teaser.png ├── requirements.txt └── stats ├── .DS_Store ├── Added_shape_list.txt ├── PartNet_shape_list.txt ├── ShapeNet_shape_list.txt ├── train.txt └── val.txt /.gitignore: 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