├── README.md ├── Sim-Grasp-policy ├── GroundingDINO │ ├── .asset │ │ ├── COCO.png │ │ ├── GD_GLIGEN.png │ │ ├── GD_SD.png │ │ ├── ODinW.png │ │ ├── arch.png │ │ ├── cats.png │ │ └── hero_figure.png │ ├── LICENSE │ ├── README.md │ ├── build │ │ ├── lib.linux-x86_64-cpython-39 │ │ │ └── groundingdino │ │ │ │ └── _C.cpython-39-x86_64-linux-gnu.so │ │ └── temp.linux-x86_64-cpython-39 │ │ │ ├── .ninja_deps │ │ │ ├── .ninja_log │ │ │ ├── build.ninja │ │ │ └── media │ │ │ └── juncheng │ │ │ ├── Disk4T1 │ │ │ └── Sim-Grasp │ │ │ │ └── Sim_Grasp_policy │ │ │ │ └── GroundingDINO │ │ │ │ └── groundingdino │ │ │ │ └── models │ │ │ │ └── GroundingDINO │ │ │ │ └── csrc │ │ │ │ ├── MsDeformAttn │ │ │ │ ├── ms_deform_attn_cpu.o │ │ │ │ └── ms_deform_attn_cuda.o │ │ │ │ ├── cuda_version.o │ │ │ │ └── vision.o │ │ │ └── ubuntu_data1 │ │ │ └── Sim-Suction-API │ │ │ └── sim_suction_policy │ │ │ └── GroundingDINO │ │ │ └── groundingdino │ │ │ └── models │ │ │ └── GroundingDINO │ │ │ └── csrc │ │ │ ├── MsDeformAttn │ │ │ ├── ms_deform_attn_cpu.o │ │ │ └── ms_deform_attn_cuda.o │ │ │ ├── cuda_version.o │ │ │ └── vision.o │ ├── demo │ │ ├── gradio_app.py │ │ └── inference_on_a_image.py │ ├── groundingdino.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── groundingdino │ │ ├── _C.cpython-39-x86_64-linux-gnu.so │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-39.pyc │ │ ├── config │ │ │ ├── GroundingDINO_SwinB.py │ │ │ └── GroundingDINO_SwinT_OGC.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ └── transforms.cpython-39.pyc │ │ │ └── transforms.py │ │ ├── models │ │ │ ├── GroundingDINO │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── bertwarper.cpython-39.pyc │ │ │ │ │ ├── fuse_modules.cpython-39.pyc │ │ │ │ │ ├── groundingdino.cpython-39.pyc │ │ │ │ │ ├── ms_deform_attn.cpython-39.pyc │ │ │ │ │ ├── transformer.cpython-39.pyc │ │ │ │ │ ├── transformer_vanilla.cpython-39.pyc │ │ │ │ │ └── utils.cpython-39.pyc │ │ │ │ ├── backbone │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ ├── backbone.cpython-39.pyc │ │ │ │ │ │ ├── position_encoding.cpython-39.pyc │ │ │ │ │ │ └── swin_transformer.cpython-39.pyc │ │ │ │ │ ├── backbone.py │ │ │ │ │ ├── position_encoding.py │ │ │ │ │ └── swin_transformer.py │ │ │ │ ├── bertwarper.py │ │ │ │ ├── csrc │ │ │ │ │ ├── MsDeformAttn │ │ │ │ │ │ ├── ms_deform_attn.h │ │ │ │ │ │ ├── ms_deform_attn_cpu.cpp │ │ │ │ │ │ ├── ms_deform_attn_cpu.h │ │ │ │ │ │ ├── ms_deform_attn_cuda.cu │ │ │ │ │ │ ├── ms_deform_attn_cuda.h │ │ │ │ │ │ └── ms_deform_im2col_cuda.cuh │ │ │ │ │ ├── cuda_version.cu │ │ │ │ │ └── vision.cpp │ │ │ │ ├── fuse_modules.py │ │ │ │ ├── groundingdino.py │ │ │ │ ├── ms_deform_attn.py │ │ │ │ ├── transformer.py │ │ │ │ ├── transformer_vanilla.py │ │ │ │ └── utils.py │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ └── registry.cpython-39.pyc │ │ │ └── registry.py │ │ ├── util │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── box_ops.cpython-39.pyc │ │ │ │ ├── get_tokenlizer.cpython-39.pyc │ │ │ │ ├── inference.cpython-39.pyc │ │ │ │ ├── misc.cpython-39.pyc │ │ │ │ ├── slconfig.cpython-39.pyc │ │ │ │ ├── utils.cpython-39.pyc │ │ │ │ ├── visualizer.cpython-39.pyc │ │ │ │ └── vl_utils.cpython-39.pyc │ │ │ ├── box_ops.py │ │ │ ├── get_tokenlizer.py │ │ │ ├── inference.py │ │ │ ├── logger.py │ │ │ ├── misc.py │ │ │ ├── slconfig.py │ │ │ ├── slio.py │ │ │ ├── time_counter.py │ │ │ ├── utils.py │ │ │ ├── visualizer.py │ │ │ └── vl_utils.py │ │ └── version.py │ ├── requirements.txt │ └── setup.py ├── config │ ├── GroundingDINO_SwinB.py │ └── GroundingDINO_SwinT_OGC.py ├── segment_anything │ ├── .flake8 │ ├── CODE_OF_CONDUCT.md │ ├── CONTRIBUTING.md │ ├── LICENSE │ ├── README.md │ ├── assets │ │ ├── masks1.png │ │ ├── masks2.jpg │ │ ├── model_diagram.png │ │ ├── notebook1.png │ │ └── notebook2.png │ ├── linter.sh │ ├── notebooks │ │ ├── automatic_mask_generator_example.ipynb │ │ ├── images │ │ │ ├── dog.jpg │ │ │ ├── groceries.jpg │ │ │ └── truck.jpg │ │ ├── onnx_model_example.ipynb │ │ └── predictor_example.ipynb │ ├── scripts │ │ ├── amg.py │ │ └── export_onnx_model.py │ ├── segment_anything.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── segment_anything │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── automatic_mask_generator.cpython-39.pyc │ │ │ ├── build_sam.cpython-39.pyc │ │ │ ├── build_sam_hq.cpython-39.pyc │ │ │ └── predictor.cpython-39.pyc │ │ ├── automatic_mask_generator.py │ │ ├── build_sam.py │ │ ├── build_sam_hq.py │ │ ├── modeling │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── common.cpython-39.pyc │ │ │ │ ├── image_encoder.cpython-39.pyc │ │ │ │ ├── mask_decoder.cpython-39.pyc │ │ │ │ ├── mask_decoder_hq.cpython-39.pyc │ │ │ │ ├── prompt_encoder.cpython-39.pyc │ │ │ │ ├── sam.cpython-39.pyc │ │ │ │ └── transformer.cpython-39.pyc │ │ │ ├── common.py │ │ │ ├── image_encoder.py │ │ │ ├── mask_decoder.py │ │ │ ├── mask_decoder_hq.py │ │ │ ├── prompt_encoder.py │ │ │ ├── sam.py │ │ │ └── transformer.py │ │ ├── predictor.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── amg.cpython-39.pyc │ │ │ └── transforms.cpython-39.pyc │ │ │ ├── amg.py │ │ │ ├── onnx.py │ │ │ └── transforms.py │ ├── setup.cfg │ └── setup.py ├── sim_grasp_demo.py ├── sim_grasp_policy_model.py └── sim_grasp_policy_utils.py ├── Sim_GraspNet ├── inference_utils.py ├── knn │ ├── __pycache__ │ │ ├── knn_modules.cpython-310.pyc │ │ └── knn_modules.cpython-39.pyc │ ├── build │ │ ├── lib.linux-x86_64-cpython-39 │ │ │ └── knn_pytorch │ │ │ │ └── knn_pytorch.cpython-39-x86_64-linux-gnu.so │ │ └── temp.linux-x86_64-cpython-39 │ │ │ ├── .ninja_deps │ │ │ ├── .ninja_log │ │ │ ├── build.ninja │ │ │ └── media │ │ │ └── juncheng │ │ │ └── Disk4T │ │ │ └── Sim-Grasp │ │ │ └── Sim_GraspNet │ │ │ └── knn │ │ │ └── src │ │ │ ├── cpu │ │ │ └── knn_cpu.o │ │ │ ├── cuda │ │ │ └── knn.o │ │ │ └── vision.o │ ├── dist │ │ └── knn_pytorch-0.1-py3.9-linux-x86_64.egg │ ├── knn_modules.py │ ├── knn_pytorch.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ └── top_level.txt │ ├── setup.py │ └── src │ │ ├── cpu │ │ ├── knn_cpu.cpp │ │ └── vision.h │ │ ├── cuda │ │ ├── knn.cu │ │ └── vision.h │ │ ├── knn.h │ │ └── vision.cpp ├── models │ ├── SimGraspDataset.py │ ├── SimGraspNet_cluster.py │ ├── loss.py │ ├── loss_utils.py │ ├── mlp.py │ ├── modules.py │ ├── preprocessing.py │ └── sim_suction_model │ │ ├── __pycache__ │ │ └── sim_suction_pointnet.cpython-39.pyc │ │ ├── sim_suction_pointnet.py │ │ └── utils │ │ ├── __pycache__ │ │ ├── pointnet2.cpython-39.pyc │ │ └── pointnet2_model.cpython-39.pyc │ │ ├── pn2_utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── function.cpython-39.pyc │ │ │ └── modules.cpython-39.pyc │ │ ├── build │ │ │ ├── lib.linux-x86_64-cpython-39 │ │ │ │ └── pn2_ext.cpython-39-x86_64-linux-gnu.so │ │ │ └── temp.linux-x86_64-cpython-39 │ │ │ │ ├── .ninja_deps │ │ │ │ ├── .ninja_log │ │ │ │ ├── build.ninja │ │ │ │ └── csrc │ │ │ │ ├── ball_query_kernel.o │ │ │ │ ├── grouping_kernel.o │ │ │ │ ├── interpolate_kernel.o │ │ │ │ ├── main.o │ │ │ │ └── sampling_kernel.o │ │ ├── csrc │ │ │ ├── ball_query.h │ │ │ ├── ball_query_kernel.cu │ │ │ ├── grouping.h │ │ │ ├── grouping_kernel.cu │ │ │ ├── interpolate.h │ │ │ ├── interpolate_kernel.cu │ │ │ ├── main.cpp │ │ │ ├── sampling.h │ │ │ └── sampling_kernel.cu │ │ ├── dist │ │ │ └── pn2_ext-0.0.0-py3.9-linux-x86_64.egg │ │ ├── function.py │ │ ├── functions │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ └── gather_knn.cpython-39.pyc │ │ │ ├── build │ │ │ │ ├── lib.linux-x86_64-cpython-39 │ │ │ │ │ └── dgcnn_ext.cpython-39-x86_64-linux-gnu.so │ │ │ │ └── temp.linux-x86_64-cpython-39 │ │ │ │ │ ├── .ninja_deps │ │ │ │ │ ├── .ninja_log │ │ │ │ │ ├── build.ninja │ │ │ │ │ └── csrc │ │ │ │ │ ├── gather_knn_kernel.o │ │ │ │ │ └── main.o │ │ │ ├── csrc │ │ │ │ ├── gather_knn.h │ │ │ │ ├── gather_knn_kernel.cu │ │ │ │ └── main.cpp │ │ │ ├── dgcnn_ext.egg-info │ │ │ │ ├── PKG-INFO │ │ │ │ ├── SOURCES.txt │ │ │ │ ├── dependency_links.txt │ │ │ │ └── top_level.txt │ │ │ ├── dist │ │ │ │ └── dgcnn_ext-0.0.0-py3.9-linux-x86_64.egg │ │ │ ├── gather_knn.py │ │ │ └── setup.py │ │ ├── modules.py │ │ ├── nn │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── init.cpython-310.pyc │ │ │ │ ├── init.cpython-37.pyc │ │ │ │ ├── init.cpython-38.pyc │ │ │ │ └── init.cpython-39.pyc │ │ │ ├── freezer.py │ │ │ ├── functional.py │ │ │ ├── init.py │ │ │ └── modules │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── conv.cpython-310.pyc │ │ │ │ ├── conv.cpython-37.pyc │ │ │ │ ├── conv.cpython-38.pyc │ │ │ │ ├── conv.cpython-39.pyc │ │ │ │ ├── linear.cpython-310.pyc │ │ │ │ ├── linear.cpython-37.pyc │ │ │ │ ├── linear.cpython-38.pyc │ │ │ │ ├── linear.cpython-39.pyc │ │ │ │ ├── mlp.cpython-310.pyc │ │ │ │ ├── mlp.cpython-37.pyc │ │ │ │ ├── mlp.cpython-38.pyc │ │ │ │ └── mlp.cpython-39.pyc │ │ │ │ ├── conv.py │ │ │ │ ├── linear.py │ │ │ │ └── mlp.py │ │ ├── pn2_ext.egg-info │ │ │ ├── PKG-INFO │ │ │ ├── SOURCES.txt │ │ │ ├── dependency_links.txt │ │ │ └── top_level.txt │ │ └── setup.py │ │ └── pointnet2_model.py ├── pointnet2 │ ├── __pycache__ │ │ ├── pointnet2_modules.cpython-39.pyc │ │ ├── pointnet2_utils.cpython-39.pyc │ │ └── pytorch_utils.cpython-39.pyc │ ├── _ext_src │ │ ├── include │ │ │ ├── ball_query.h │ │ │ ├── cuda_utils.h │ │ │ ├── cylinder_query.h │ │ │ ├── group_points.h │ │ │ ├── interpolate.h │ │ │ ├── sampling.h │ │ │ └── utils.h │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_gpu.cu │ │ │ ├── bindings.cpp │ │ │ ├── cylinder_query.cpp │ │ │ ├── cylinder_query_gpu.cu │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── sampling.cpp │ │ │ └── sampling_gpu.cu │ ├── pointnet2_modules.py │ ├── pointnet2_utils.py │ ├── pytorch_utils.py │ └── setup.py ├── provider.py ├── requirements.txt ├── test.py └── train.py ├── grasp_sampling ├── check_nan.py ├── convert_instance.py ├── convert_instance_aug.py ├── generate_cluttered.py ├── generate_cluttered_augment.py ├── grasp_simulation.py ├── item_list_aug.py ├── run_scripts.sh ├── simulation_utils.py 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