├── .gitignore ├── LICENSE ├── README.md ├── Setup.md ├── __init__.py ├── benchmark_map.py ├── calibrate.py ├── calibrate ├── __init__.py ├── aruco.py ├── camera-intrinsics.txt └── camera_pose.txt ├── capture_view.py ├── containability.py ├── containability_imagination_benchmark.py ├── data └── Amazon_Accessory_Tray_pour_pca │ ├── Amazon_Accessory_Tray_pour_pca.txt │ ├── Amazon_Accessory_Tray_pour_pca_mesh_0.obj │ ├── Amazon_Accessory_Tray_pour_pca_mesh_0.urdf │ ├── Amazon_Accessory_Tray_pour_pca_mesh_0_contain.mp4 │ ├── Amazon_Accessory_Tray_pour_pca_mesh_0_pour.mp4 │ ├── Amazon_Accessory_Tray_pour_pca_mesh_0_vhacd.obj │ ├── Amazon_Accessory_Tray_pour_pca_point_0.ply │ └── rgbd │ ├── frame-000150.color.png │ ├── frame-000150.depth.png │ ├── frame-000150.pose.txt │ ├── frame-000151.color.png │ ├── frame-000151.depth.png │ ├── frame-000151.pose.txt │ ├── frame-000152.color.png │ ├── frame-000152.depth.png │ ├── frame-000152.pose.txt │ ├── frame-000153.color.png │ ├── frame-000153.depth.png │ ├── frame-000153.pose.txt │ ├── frame-000154.color.png │ ├── frame-000154.depth.png │ ├── frame-000154.pose.txt │ ├── frame-000155.color.png │ ├── frame-000155.depth.png │ ├── frame-000155.pose.txt │ ├── frame-000156.color.png │ ├── frame-000156.depth.png │ ├── frame-000156.pose.txt │ ├── frame-000157.color.png │ ├── frame-000157.depth.png │ ├── frame-000157.pose.txt │ ├── frame-000158.color.png │ ├── frame-000158.depth.png │ ├── frame-000158.pose.txt │ ├── frame-000159.color.png │ ├── frame-000159.depth.png │ ├── frame-000159.pose.txt │ ├── frame-000160.color.png │ ├── frame-000160.depth.png │ ├── frame-000160.pose.txt │ ├── frame-000161.color.png │ ├── frame-000161.depth.png │ ├── frame-000161.pose.txt │ ├── frame-000162.color.png │ ├── frame-000162.depth.png │ ├── frame-000162.pose.txt │ ├── frame-000163.color.png │ ├── frame-000163.depth.png │ ├── frame-000163.pose.txt │ ├── frame-000164.color.png │ ├── frame-000164.depth.png │ ├── frame-000164.pose.txt │ ├── frame-000165.color.png │ ├── frame-000165.depth.png │ ├── frame-000165.pose.txt │ ├── frame-000166.color.png │ ├── frame-000166.depth.png │ ├── frame-000166.pose.txt │ ├── frame-000167.color.png │ ├── frame-000167.depth.png │ ├── frame-000167.pose.txt │ ├── frame-000168.color.png │ ├── frame-000168.depth.png │ ├── frame-000168.pose.txt │ ├── frame-000169.color.png │ ├── frame-000169.depth.png │ ├── frame-000169.pose.txt │ ├── frame-000170.color.png │ ├── frame-000170.depth.png │ ├── frame-000170.pose.txt │ ├── frame-000171.color.png │ ├── frame-000171.depth.png │ ├── frame-000171.pose.txt │ ├── frame-000172.color.png │ ├── frame-000172.depth.png │ ├── frame-000172.pose.txt │ ├── frame-000173.color.png │ ├── frame-000173.depth.png │ ├── frame-000173.pose.txt │ ├── tsdf.bin │ └── tsdf.ply ├── doc ├── contain_imagine.gif ├── imagine_object.png ├── pouring_imagine.gif ├── real_robot_pour.gif ├── robot_setup.png ├── scan.gif ├── teaser.gif └── thumbnail0.png ├── main_imagination.py ├── main_pour.py ├── object ├── Cup_GeoCenter.obj ├── Cup_GeoCenter.urdf ├── Cup_GeoCenter_vhacd.obj ├── m&m.urdf ├── m&m_red.urdf └── textured_sphere_smooth.obj ├── pick_and_pour.py ├── pouring.py ├── processing ├── TSDFfusion │ ├── CMakeLists.txt │ ├── tsdf_fusion_cpu.cpp │ └── utils.hpp ├── __init__.py ├── tsdf_fusion.py └── utils.py ├── robot.py ├── ros_camera_tsdf_fusion.py └── utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hongtaowu67/container_imagine/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hongtaowu67/container_imagine/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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