├── .env ├── .gitignore ├── README.md ├── cam.py ├── install_deps.sh ├── mask.png ├── run_next_best_view.sh ├── src ├── CMakeLists.txt ├── DenseTactNode │ ├── CMakeLists.txt │ ├── DenseTact │ │ ├── Img2Depth │ │ │ ├── __init__.py │ │ │ ├── calib_idx │ │ │ │ ├── mask_idx_1.npy │ │ │ │ ├── mask_idx_101.npy │ │ │ │ ├── mask_idx_102.npy │ │ │ │ ├── mask_idx_2.npy │ │ │ │ ├── mask_idx_3.npy │ │ │ │ ├── mask_idx_4.npy │ │ │ │ ├── mask_idx_5.npy │ │ │ │ ├── mask_idx_6.npy │ │ │ │ ├── mask_sen1.npy │ │ │ │ ├── mask_sen2.npy │ │ │ │ ├── mask_sen3.npy │ │ │ │ ├── mask_sen4.npy │ │ │ │ ├── mask_sen5.npy │ │ │ │ ├── mask_sen6.npy │ │ │ │ ├── pts_2ndmask_101_80deg.npy │ │ │ │ ├── pts_2ndmask_102_80deg.npy │ │ │ │ ├── pts_2ndmask_1_80deg.npy │ │ │ │ ├── pts_2ndmask_2_80deg.npy │ │ │ │ ├── pts_2ndmask_3_80deg.npy │ │ │ │ ├── pts_2ndmask_4_80deg.npy │ │ │ │ ├── pts_2ndmask_5_80deg.npy │ │ │ │ ├── pts_2ndmask_6_80deg.npy │ │ │ │ ├── pts_masked_1.npy │ │ │ │ ├── pts_masked_101.npy │ │ │ │ ├── pts_masked_102.npy │ │ │ │ ├── pts_masked_2.npy │ │ │ │ ├── pts_masked_3.npy │ │ │ │ ├── pts_masked_4.npy │ │ │ │ ├── pts_masked_5.npy │ │ │ │ ├── pts_masked_6.npy │ │ │ │ └── pts_masked_7.npy │ │ │ ├── img2depthforce.py │ │ │ ├── img2depthforce_prev.py │ │ │ ├── inital_imgs │ │ │ │ ├── sen_101 │ │ │ │ │ ├── depth_0.jpg │ │ │ │ │ └── rgb_0.jpg │ │ │ │ └── sen_102 │ │ │ │ │ ├── depth_0.jpg │ │ │ │ │ └── rgb_0.jpg │ │ │ ├── networks │ │ │ │ ├── DenseNet.py │ │ │ │ ├── DenseNet_loss.py │ │ │ │ ├── STForce.py │ │ │ │ ├── __init__.py │ │ │ │ ├── newcrf_utils.py │ │ │ │ └── swin_transformer_force.py │ │ │ └── utils.py │ │ ├── __init__.py │ │ └── cam_ros.py │ ├── README.md │ ├── config │ │ └── caminfo.yaml │ ├── launch │ │ └── dt.launch │ ├── package.xml │ ├── requirements.txt │ └── setup.py ├── gaussian_splatting │ ├── CMakeLists.txt │ ├── README.md │ ├── gaussian_splatting_py │ │ ├── __init__.py │ │ ├── base_splatfacto.py │ │ ├── config.yml │ │ ├── dsine_test.png │ │ ├── frames │ │ │ ├── 0000.png │ │ │ ├── 0001.png │ │ │ ├── 0002.png │ │ │ ├── 0003.png │ │ │ ├── 0004.png │ │ │ └── 0005.png │ │ ├── frames_jpg │ │ │ ├── 0000.jpg │ │ │ ├── 0001.jpg │ │ │ ├── 0002.jpg │ │ │ ├── 0003.jpg │ │ │ ├── 0004.jpg │ │ │ └── 0005.jpg │ │ ├── frames_sam2.py │ │ ├── load_yaml.py │ │ ├── monocular_depth.py │ │ ├── run_dsine.py │ │ ├── run_sam2.py │ │ ├── sample_imgs │ │ │ ├── bunny.png │ │ │ ├── bunny_mask.png │ │ │ └── clutter.jpg │ │ ├── sample_mde_config.yml │ │ ├── splatfacto2d.py │ │ ├── splatfacto3d.py │ │ ├── test.png │ │ ├── touch_node.py │ │ ├── vision_node.py │ │ └── vision_utils │ │ │ └── vision_utils.py │ ├── launch │ │ └── vision.launch │ ├── package.xml │ ├── setup.py │ └── srv │ │ ├── NBV.srv │ │ ├── NBVPoses.srv │ │ ├── NBVResult.srv │ │ └── SaveModel.srv └── kinova_control │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ └── params.yaml │ ├── kinova_control_py │ ├── __init__.py │ ├── april_tag_detector.py │ ├── dt_cam_node.py │ ├── moveit_controller.py │ ├── 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