├── .gitignore ├── README.md └── learning ├── data-sampling ├── README.MD ├── datasets │ └── data_mesh_test.mat ├── functions │ ├── find_idx.m │ ├── fk_transform.m │ ├── franka_dh_fk.m │ ├── getBBox.m │ ├── getPtsInsideMesh.m │ ├── inpolyhedron.m │ ├── meshes_fk.m │ ├── plot_franka_fcn.m │ ├── point2trimesh.m │ ├── sampleBbox.m │ ├── scaleBBox.m │ └── sph_plot_franka_fcn.m ├── genDataset.m ├── meshes │ ├── franka.yaml │ ├── linkPtsGen.m │ ├── mesh_full.mat │ ├── mesh_light.mat │ └── mesh_light_pts.mat ├── plotDataset.m └── staticPlot.m ├── nn-learning ├── .idea │ └── workspace.xml ├── README.MD ├── franka_collision_model.pt ├── run_sdf.py ├── sdf │ ├── __pycache__ │ │ ├── network_macros_mod.cpython-310.pyc │ │ └── robot_sdf.cpython-310.pyc │ ├── network_macros_mod.py │ ├── robot_sdf.py │ └── util_file.py ├── sdf_256x5_mesh.pt └── train_sdf.py └── nn_validation ├── analyze.py ├── analyze_opts.py ├── analyze_outliers.py ├── dist_barplot.png ├── dist_distrib.png ├── fk_num.py ├── 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