├── .gitignore ├── .gitmodules ├── Dockerfile ├── LICENSE ├── README.md ├── __init__.py ├── assets ├── demo_bullet.gif ├── demo_bullet2.gif ├── demo_bullet_kitchen.gif ├── demo_bullet_kitchen2.gif ├── demo_cabinet.gif ├── demo_cabinet2.gif ├── demo_cabinet_mouse.gif ├── demo_cabinet_mouse_2.gif ├── demo_table.gif ├── demo_table2.gif ├── demo_table_p.gif ├── demo_table_p2.gif └── omg.gif ├── bullet ├── __init__.py ├── _init_paths.py ├── gen_data.py ├── models │ └── panda │ │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ └── visual │ │ │ ├── colors.png │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ └── link6.obj │ │ └── panda_gripper.urdf ├── panda_gripper.py ├── panda_kitchen_scene.py ├── panda_scene.py └── vis_data.py ├── docker ├── docker_build.py ├── docker_run.py └── install_deps.sh ├── download_data.sh ├── layers ├── __init__.py ├── omg_layers.cpp ├── sdf_matching_loss.py ├── sdf_matching_loss_kernel.cu └── setup.py ├── omg ├── __init__.py ├── _init_paths.py ├── config.py ├── core.py ├── cost.py ├── online_learner.py ├── optimizer.py ├── planner.py ├── sdf_tools.py └── util.py ├── real_world ├── __init__.py ├── _init_paths.py ├── blender_process.py ├── convert_sdf.py ├── gen_convex_shape.py ├── gen_sdf.py ├── gen_xyz.py ├── process_shape.py ├── script.txt ├── script2.txt ├── trial.py ├── trial_mouse.py └── vis_grasp.py ├── requirements.txt └── ycb_render ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── __init__.py ├── assets ├── demo.gif ├── demo2.gif ├── demo3.gif └── demo4.gif ├── cpp ├── query_devices.cpp ├── test_device.cpp └── ycb_renderer.cpp ├── get_available_devices.py ├── glad ├── EGL │ └── eglplatform.h ├── KHR │ └── khrplatform.h ├── egl.c ├── gl.c ├── glad │ ├── egl.h │ ├── gl.h │ └── glx.h ├── glx_dyn.c └── linmath.h ├── glutils ├── __init__.py ├── _trackball.py ├── binvox ├── binvox_rw.py ├── brain.py ├── glcontext.py ├── glrenderer.py ├── meshutil.py ├── trackball.py ├── utils.py └── voxel.py ├── pybind11 ├── .appveyor.yml ├── .gitignore ├── .gitmodules ├── .readthedocs.yml ├── .travis.yml ├── CMakeLists.txt ├── CONTRIBUTING.md ├── ISSUE_TEMPLATE.md ├── LICENSE ├── MANIFEST.in ├── README.md ├── docs │ ├── Doxyfile │ ├── _static │ │ └── theme_overrides.css │ ├── advanced │ │ ├── cast │ │ │ ├── chrono.rst │ │ │ ├── custom.rst │ │ │ ├── eigen.rst │ │ │ ├── functional.rst │ │ │ ├── index.rst │ │ │ ├── overview.rst │ │ │ ├── stl.rst │ │ │ └── strings.rst │ │ ├── classes.rst │ │ ├── embedding.rst │ │ ├── exceptions.rst │ │ ├── functions.rst │ │ ├── misc.rst │ │ ├── pycpp │ │ │ ├── index.rst │ │ │ ├── numpy.rst │ │ │ ├── object.rst │ │ │ └── utilities.rst │ │ └── smart_ptrs.rst │ ├── basics.rst │ ├── benchmark.py │ ├── benchmark.rst │ ├── changelog.rst │ ├── classes.rst │ ├── compiling.rst │ ├── conf.py │ ├── faq.rst │ ├── index.rst │ ├── intro.rst │ ├── limitations.rst │ ├── pybind11_vs_boost_python1.svg │ ├── pybind11_vs_boost_python2.svg │ ├── reference.rst │ ├── release.rst │ ├── requirements.txt │ └── upgrade.rst ├── include │ └── pybind11 │ │ ├── attr.h │ │ ├── buffer_info.h │ │ ├── cast.h │ │ ├── chrono.h │ │ ├── common.h │ │ ├── complex.h │ │ ├── detail │ │ ├── class.h │ │ ├── common.h │ │ ├── descr.h │ │ ├── init.h │ │ ├── internals.h │ │ └── typeid.h │ │ ├── eigen.h │ │ ├── embed.h │ │ ├── eval.h │ │ ├── functional.h │ │ ├── iostream.h │ │ ├── numpy.h │ │ ├── operators.h │ │ ├── options.h │ │ ├── pybind11.h │ │ ├── pytypes.h │ │ ├── stl.h │ │ └── stl_bind.h ├── pybind11 │ ├── __init__.py │ ├── __main__.py │ └── _version.py ├── setup.cfg ├── setup.py ├── tests │ ├── CMakeLists.txt │ ├── conftest.py │ ├── constructor_stats.h │ ├── local_bindings.h │ ├── object.h │ ├── pybind11_cross_module_tests.cpp │ ├── pybind11_tests.cpp │ ├── pybind11_tests.h │ ├── pytest.ini │ ├── test_buffers.cpp │ ├── test_buffers.py │ ├── test_builtin_casters.cpp │ ├── test_builtin_casters.py │ ├── test_call_policies.cpp │ ├── test_call_policies.py │ ├── test_callbacks.cpp │ ├── test_callbacks.py │ ├── test_chrono.cpp │ ├── test_chrono.py │ ├── test_class.cpp │ ├── test_class.py │ ├── test_cmake_build │ │ ├── CMakeLists.txt │ │ ├── embed.cpp │ │ ├── installed_embed │ │ │ └── CMakeLists.txt │ │ ├── installed_function │ │ │ └── CMakeLists.txt │ │ ├── installed_target │ │ │ └── CMakeLists.txt │ │ ├── main.cpp │ │ ├── subdirectory_embed │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_function │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_target │ │ │ └── CMakeLists.txt │ │ └── test.py │ ├── test_constants_and_functions.cpp │ ├── test_constants_and_functions.py │ ├── test_copy_move.cpp │ ├── test_copy_move.py │ ├── test_docstring_options.cpp │ ├── test_docstring_options.py │ ├── test_eigen.cpp │ ├── test_eigen.py │ ├── test_embed │ │ ├── CMakeLists.txt │ │ ├── catch.cpp │ │ ├── external_module.cpp │ │ ├── test_interpreter.cpp │ │ └── test_interpreter.py │ ├── test_enum.cpp │ ├── test_enum.py │ ├── test_eval.cpp │ ├── test_eval.py │ ├── test_eval_call.py │ ├── test_exceptions.cpp │ ├── test_exceptions.py │ ├── test_factory_constructors.cpp │ ├── test_factory_constructors.py │ ├── test_gil_scoped.cpp │ ├── test_gil_scoped.py │ ├── test_iostream.cpp │ ├── test_iostream.py │ ├── test_kwargs_and_defaults.cpp │ ├── test_kwargs_and_defaults.py │ ├── test_local_bindings.cpp │ ├── test_local_bindings.py │ ├── test_methods_and_attributes.cpp │ ├── test_methods_and_attributes.py │ ├── test_modules.cpp │ ├── test_modules.py │ ├── test_multiple_inheritance.cpp │ ├── test_multiple_inheritance.py │ ├── test_numpy_array.cpp │ ├── test_numpy_array.py │ ├── test_numpy_dtypes.cpp │ ├── test_numpy_dtypes.py │ ├── test_numpy_vectorize.cpp │ ├── test_numpy_vectorize.py │ ├── test_opaque_types.cpp │ ├── test_opaque_types.py │ ├── test_operator_overloading.cpp │ ├── test_operator_overloading.py │ ├── test_pickling.cpp │ ├── test_pickling.py │ ├── test_pytypes.cpp │ ├── test_pytypes.py │ ├── test_sequences_and_iterators.cpp │ ├── test_sequences_and_iterators.py │ ├── test_smart_ptr.cpp │ ├── test_smart_ptr.py │ ├── test_stl.cpp │ ├── test_stl.py │ ├── test_stl_binders.cpp │ ├── test_stl_binders.py │ ├── test_tagbased_polymorphic.cpp │ ├── test_tagbased_polymorphic.py │ ├── test_virtual_functions.cpp │ └── test_virtual_functions.py └── tools │ ├── FindCatch.cmake │ ├── FindEigen3.cmake │ ├── FindPythonLibsNew.cmake │ ├── check-style.sh │ ├── libsize.py │ ├── mkdoc.py │ ├── pybind11Config.cmake.in │ └── pybind11Tools.cmake ├── robotPose ├── .gitignore ├── __init__.py ├── _init_paths.py ├── 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