├── .github └── workflows │ ├── mypy.yaml │ ├── pre-commit.yaml │ ├── publish-to-pypi.yaml │ └── pytest.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── cloth-tools ├── cloth_tools │ ├── __init__.py │ ├── annotation │ │ ├── __init__.py │ │ └── grasp_annotation.py │ ├── bounding_boxes.py │ ├── config.py │ ├── controllers │ │ ├── __init__.py │ │ ├── basic_home_controller.py │ │ ├── controller.py │ │ ├── dry_run_grasp_controller.py │ │ ├── grasp_hanging_controller.py │ │ ├── grasp_highest_controller.py │ │ ├── grasp_lowest_controller.py │ │ ├── hang_controller.py │ │ ├── home_controller.py │ │ └── stretch_controller.py │ ├── dataset │ │ ├── __init__.py │ │ ├── bookkeeping.py │ │ ├── collection.py │ │ ├── download.py │ │ ├── format.py │ │ └── upload.py │ ├── drake │ │ ├── __init__.py │ │ └── scenes.py │ ├── kinematics │ │ ├── __init__.py │ │ ├── constants.py │ │ └── inverse_kinematics.py │ ├── motion_blur_detector.py │ ├── multiprocess_viewer.py │ ├── planning │ │ ├── __init__.py │ │ └── grasp_planning.py │ ├── point_clouds │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── cloth_detection.py │ │ └── operations.py │ ├── stations │ │ ├── __init__.py │ │ ├── competition_station.py │ │ ├── coordinate_frames.py │ │ └── dual_arm_station.py │ ├── trajectory_execution.py │ ├── visualization │ │ ├── __init__.py │ │ ├── open3d.py │ │ ├── opencv.py │ │ └── rerun.py │ └── wrench_smoother.py ├── pyproject.toml ├── setup.py └── test │ └── test_dummy.py ├── environment-dev.yaml ├── environment.yaml ├── evaluation-service ├── .gitignore ├── .node-version ├── README.md ├── backend │ ├── compute_area.py │ ├── main.py │ ├── remove_results.py │ ├── requirements.txt │ ├── server.py │ └── templates │ │ └── explorer.html ├── download_sam_weights.sh ├── frontend │ ├── .gitignore │ ├── README.md │ ├── package.json │ ├── public │ │ ├── ICRA_2024.jpg │ │ ├── favicon.ico │ │ ├── index.html │ │ ├── logo192.png │ │ ├── logo512.png │ │ ├── manifest.json │ │ └── robots.txt │ ├── src │ │ ├── App.css │ │ ├── App.js │ │ ├── App.test.js │ │ ├── index.css │ │ ├── index.js │ │ ├── logo.svg │ │ ├── reportWebVitals.js │ │ ├── setupTests.js │ │ └── tailwind.css │ ├── tailwind.config.js │ └── yarn.lock └── images │ ├── cloth.jpeg │ ├── donut.jpg │ ├── groceries.jpg │ └── truck.jpg ├── notebooks ├── .ipynb_checkpoints │ └── 01_getting_started-checkpoint.ipynb ├── 01_getting_started.ipynb ├── 02_background_removal.ipynb ├── 03_coco_dataset_creation.ipynb ├── 04_server_communication.ipynb ├── 05_grasp_planning.ipynb ├── 06_load_references.ipynb ├── 07_sam_segmentation.ipynb ├── 08_paper_figures.ipynb ├── 09_load_training.ipynb ├── 10_pareto_and_table.ipynb ├── 11_coverage_progression.ipynb ├── 12_start_result.ipynb ├── dev │ ├── array_copy_performance.ipynb │ ├── check_for_grasp_files.ipynb │ ├── find_complete_samples.ipynb │ ├── find_latest_observation.ipynb │ ├── upload_grasp.ipynb │ └── zed2i_performance.ipynb ├── grasping │ ├── 01_annotation.ipynb │ 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