├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── algos ├── __init__.py ├── afford_algos.py ├── contact_algos.py ├── goal_algos.py ├── traj_algos.py └── traj_optimizer.py ├── assets ├── panda_hand_mesh.obj └── teaser.png ├── config └── test_config.yaml ├── demos ├── infer_affordance.py └── optimize_affordance.py ├── diffuser_utils ├── dataset_utils.py ├── guidance_loss.py ├── guidance_params.py └── tensor_utils.py ├── models ├── __init__.py ├── attention.py ├── clip │ ├── README.md │ ├── __init__.py │ ├── bpe_simple_vocab_16e6.txt.gz │ ├── clip.py │ ├── interpolate.py │ ├── model.py │ └── simple_tokenizer.py ├── contact.py ├── diffuser.py ├── feature_extractors.py ├── goal.py ├── helpers.py ├── layers_2d.py ├── layers_3d.py ├── perceiver.py └── temporal.py ├── requirements.txt └── scripts ├── download_ckpt_testdata.sh ├── prepare_third_party_modules.sh └── test_demo.sh /.gitignore: -------------------------------------------------------------------------------- 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