├── .gitignore ├── README.md ├── data ├── .gitignore └── README.md ├── exps ├── README.md ├── blender_utils │ ├── camera.blend │ ├── cube.obj │ ├── quaternion.py │ ├── render_blender.py │ └── render_using_blender.py ├── camera.py ├── colors.py ├── data.py ├── datagen.py ├── env_fitting │ ├── collect_data.py │ ├── env.py │ ├── replay_data.py │ └── stats │ │ ├── act_cats-test.txt │ │ ├── act_cats-train.txt │ │ ├── afford_cats-test.txt │ │ └── afford_cats-train.txt ├── env_placement │ ├── collect_data.py │ ├── env.py │ ├── replay_data.py │ └── stats │ │ ├── act_cats-test.txt │ │ ├── act_cats-train.txt │ │ ├── afford_cats-test.txt │ │ └── afford_cats-train.txt ├── env_pushing │ ├── collect_data.py │ ├── env.py │ ├── replay_data.py │ └── stats │ │ ├── act_cats-test.txt │ │ ├── act_cats-train.txt │ │ ├── afford_cats-test.txt │ │ └── afford_cats-train.txt ├── env_stacking │ ├── collect_data.py │ ├── env.py │ ├── replay_data.py │ └── stats │ │ ├── act_cats-test.txt │ │ ├── act_cats-train.txt │ │ ├── afford_cats-test.txt │ │ └── afford_cats-train.txt ├── eval_o2oafford.py ├── gen_html_hierachy_local.py ├── gen_offline_data.py ├── geometry_utils.py ├── logs │ ├── .gitignore │ └── README.md ├── models │ └── model_o2oafford.py ├── pyquaternion │ ├── README.md │ ├── __init__.py │ └── quaternion.py ├── results │ ├── env_fitting │ │ └── .gitignore │ ├── env_placement │ │ └── .gitignore │ ├── env_pushing │ │ └── .gitignore │ └── env_stacking │ │ └── .gitignore ├── robots │ ├── franka_description │ │ └── meshes │ │ │ ├── collision │ │ │ ├── finger.stl │ │ │ ├── finger.stl.convex.stl │ │ │ ├── hand.stl │ │ │ ├── hand.stl.convex.stl │ │ │ ├── link0.stl │ │ │ ├── link0.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 │ │ │ ├── link7.stl │ │ │ └── link7.stl.convex.stl │ │ │ └── visual │ │ │ ├── finger.dae │ │ │ ├── hand.dae │ │ │ ├── link0.dae │ │ │ ├── link1.dae │ │ │ ├── link2.dae │ │ │ ├── link3.dae │ │ │ ├── link4.dae │ │ │ ├── link5.dae │ │ │ ├── link6.dae │ │ │ └── link7.dae │ ├── panda.urdf │ ├── panda_gripper.urdf │ └── panda_robot.py ├── scripts │ ├── eval_placement.sh │ ├── gen_data-placement.sh │ └── train_placement.sh ├── train_o2oafford.py └── utils.py ├── images └── teaser.png └── stats ├── Basket-train_cat_test_shape.txt ├── Basket-train_cat_train_shape.txt ├── Bottle-train_cat_test_shape.txt ├── Bottle-train_cat_train_shape.txt ├── Bowl-train_cat_test_shape.txt ├── Bowl-train_cat_train_shape.txt ├── Box-train_cat_test_shape.txt ├── Box-train_cat_train_shape.txt ├── Bucket-test_cat.txt ├── Can-train_cat_test_shape.txt ├── Can-train_cat_train_shape.txt ├── Dispenser-test_cat.txt ├── Door-test_cat.txt ├── Jar-test_cat.txt ├── Kettle-test_cat.txt ├── KitchenPot-train_cat_test_shape.txt ├── 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