├── .gitmodules ├── LICENSE.md ├── README.md ├── doc ├── dataset.md ├── demonstrations.md ├── eval.md ├── mug_cut.gif ├── point.gif ├── pose.gif └── training.md ├── ndf_env.sh ├── requirements.txt ├── scripts ├── download_bottle_data.sh ├── download_bowl_data.sh ├── download_demo_data.sh ├── download_demo_demonstrations.sh ├── download_demo_weights.sh ├── download_mini_training_data.sh ├── download_mug_data.sh ├── download_obj_data.sh └── download_training_data.sh ├── setup.py └── src └── ndf_robot ├── config ├── __init__.py ├── bottle_obj_cfg.yaml ├── bowl_obj_cfg.yaml ├── data_gen_cfgs │ ├── rack_data_gen.yaml │ └── table_scene_data_gen.yaml ├── default_cam_cfg.py ├── default_data_gen_cfg.py ├── default_eval_cfg.py ├── default_obj_cfg.py ├── eval_cfgs │ ├── __init__.py │ ├── base_config.yaml │ ├── debug_config.yaml │ ├── eval_bottle_gen.yaml │ ├── eval_bowl_gen.yaml │ ├── eval_gen_config.yaml │ └── eval_mug_gen.yaml └── mug_obj_cfg.yaml ├── data_gen └── shapenet_pcd_gen.py ├── demonstrations ├── label_demos.py └── teleop.py ├── descriptions ├── franka_panda │ ├── LICENSE.txt │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ ├── make_hand_mesh.py │ │ ├── panda_hand_full.obj │ │ ├── panda_hand_full.stl │ │ └── visual │ │ │ ├── colors.png │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── visualShapeBench.json_0.json │ └── panda.urdf └── hanging │ ├── simple_rack.stl │ ├── table │ ├── old_shelf_back_wide.stl │ ├── shelf_back.obj │ ├── shelf_back.stl │ ├── simple_rack.mtl │ ├── simple_rack.obj │ ├── simple_rack.stl │ ├── table.mtl │ ├── table.obj │ ├── table.png │ ├── table.urdf │ ├── table_rack.urdf │ ├── table_rack_tmp.urdf │ └── table_shelf.urdf │ ├── table_w_material.zip │ └── table_w_material │ ├── table.mtl │ ├── table.obj │ ├── table.png │ └── table.urdf ├── eval ├── evaluate_ndf.py ├── ndf_alignment.py └── ndf_demo.py ├── model ├── __init__.py ├── geometry.py ├── layers_equi.py └── vnn_occupancy_net_pointnet_dgcnn.py ├── opt └── optimizer.py ├── robot └── multicam.py ├── share ├── __init__.py ├── bottle_test_object_split.txt ├── bottle_train_object_split.txt ├── bowl_test_object_split.txt ├── bowl_train_object_split.txt ├── globals.py ├── mug_test_object_split.txt └── mug_train_object_split.txt ├── training ├── __init__.py ├── config.py ├── dataio.py ├── gen_shape_to_points.py ├── losses.py ├── summaries.py ├── train_vnn_occupancy_net.py ├── training.py └── util.py └── utils ├── __init__.py ├── eval_gen_utils.py ├── experiment_utils.py ├── fork_pdb.py 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