├── README.md ├── assests ├── overview.png └── teaser.jpg ├── configs ├── default.yaml ├── diffuser │ └── ddpm.yaml ├── model │ ├── m2diffuser_mk.yaml │ ├── mpiformer_mk.yaml │ └── mpinets_mk.yaml ├── optimizer │ └── mk_motion_policy_optimization.yaml ├── planner │ └── mk_motion_policy_planning.yaml └── task │ ├── mk_m2diffuser_goal_reach.yaml │ ├── mk_m2diffuser_pick.yaml │ ├── mk_m2diffuser_place.yaml │ ├── mk_mpiformer_goal_reach.yaml │ ├── mk_mpiformer_pick.yaml │ ├── mk_mpiformer_place.yaml │ ├── mk_mpinets_goal_reach.yaml │ ├── mk_mpinets_pick.yaml │ └── mk_mpinets_place.yaml ├── datamodule ├── __init__.py ├── base.py ├── dataset │ ├── __init__.py │ ├── base.py │ ├── mk_pointcloud_instance_dataset.py │ ├── mk_pointcloud_squence_instance_dataset.py │ ├── mk_pointcloud_squence_trajectory_dataset.py │ ├── mk_pointcloud_trajectory_dataset.py │ └── transforms.py ├── misc.py └── mk_motion_policy_datamodule.py ├── env ├── __init__.py ├── agent │ └── mec_kinova.py ├── base.py ├── mk_motion_policy_env.py ├── sampler │ └── mk_sampler.py ├── scene │ └── base_scene.py └── sim │ └── bullet_simulator.py ├── environment.yaml ├── eval ├── metrics.py └── sparc.py ├── geometry ├── torch_cuboids.py ├── torch_cylinders.py └── torch_spheres.py ├── inference_m2diffuser.py ├── inference_mpiformer.py ├── inference_mpinets.py ├── models ├── __init__.py ├── base.py ├── m2diffuser │ ├── ddpm.py │ └── schedule.py ├── model │ ├── pointnet.py │ ├── pointops.py │ ├── pointtransformer.py │ ├── scene_model.py │ ├── unet.py │ └── utils.py ├── mpiformer │ ├── mpiformer_model.py │ └── openai_gpt2.py ├── mpinets │ ├── mpinets_loss.py │ └── mpinets_model.py ├── optimizer │ ├── mk_motion_policy_optimization.py │ └── optimizer.py └── planner │ ├── mk_motion_policy_planning.py │ └── planner.py ├── postprocessing ├── eval_all_result_goal_reach.py ├── eval_all_result_pick.py └── eval_all_result_place.py ├── preprocessing ├── data_preprocess_pick.py ├── data_preprocess_place.py └── data_utils.py ├── requirement.txt ├── scripts ├── model-m2diffuser │ ├── goal-reach │ │ ├── inference.sh │ │ └── train.sh │ ├── pick │ │ ├── inference.sh │ │ └── train.sh │ └── place │ │ ├── inference.sh │ │ └── train.sh ├── model-mpiformer │ ├── goal-reach │ │ ├── inference.sh │ │ └── train.sh │ ├── pick │ │ ├── inference.sh │ │ └── train.sh │ └── place │ │ ├── inference.sh │ │ └── train.sh └── model-mpinets │ ├── goal-reach │ ├── inference.sh │ └── train.sh │ ├── pick │ ├── inference.sh │ └── train.sh │ └── place │ ├── inference.sh │ └── train.sh ├── setup_env.sh ├── third_party ├── Pointnet2_PyTorch │ ├── .gitignore │ ├── .pre-commit-config.yaml │ ├── .travis.yml │ ├── MANIFEST.in │ ├── README.rst │ ├── UNLICENSE │ ├── pointnet2 │ │ ├── __init__.py │ │ ├── _version.py │ │ ├── config │ │ │ ├── config.yaml │ │ │ ├── model │ │ │ │ ├── msg.yaml │ │ │ │ └── ssg.yaml │ │ │ ├── task │ │ │ │ ├── cls.yaml │ │ │ │ └── semseg.yaml │ │ │ └── task_model │ │ │ │ ├── cls-msg.yaml │ │ │ │ ├── cls-ssg.yaml │ │ │ │ ├── semseg-msg.yaml │ │ │ │ └── semseg-ssg.yaml │ │ ├── data │ │ │ ├── .gitignore │ │ │ ├── Indoor3DSemSegLoader.py │ │ │ ├── ModelNet40Loader.py │ │ │ ├── __init__.py │ │ │ └── data_utils.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── pointnet2_msg_cls.py │ │ │ ├── pointnet2_msg_sem.py │ │ │ ├── pointnet2_ssg_cls.py │ │ │ └── pointnet2_ssg_sem.py │ │ ├── train.py │ │ └── utils │ │ │ └── .gitignore │ ├── pointnet2_ops_lib │ │ ├── MANIFEST.in │ │ ├── pointnet2_ops │ │ │ ├── __init__.py │ │ │ ├── _ext-src │ │ │ │ ├── include │ │ │ │ │ ├── ball_query.h │ │ │ │ │ ├── cuda_utils.h │ │ │ │ │ ├── group_points.h │ │ │ │ │ ├── interpolate.h │ │ │ │ │ ├── sampling.h │ │ │ │ │ └── utils.h │ │ │ │ └── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ │ ├── bindings.cpp │ │ │ │ │ ├── group_points.cpp │ │ │ │ │ ├── group_points_gpu.cu │ │ │ │ │ ├── interpolate.cpp │ │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ │ ├── sampling.cpp │ │ │ │ │ └── sampling_gpu.cu │ │ │ ├── _version.py │ │ │ ├── pointnet2_modules.py │ │ │ └── pointnet2_utils.py │ │ └── setup.py │ ├── pyproject.toml │ ├── requirements.txt │ ├── setup.py │ ├── tests │ │ ├── conftest.py │ │ ├── test_cls.py │ │ └── test_semseg.py │ └── tox.ini └── grasp_diffusion │ ├── LICENSE │ ├── README.md │ ├── assets │ ├── grasp_dif.gif │ ├── grasp_diffusion.gif │ ├── grasp_diffusion_01.gif │ ├── grasp_diffusion_02.gif │ └── grasp_diffusion_03.gif │ ├── build │ └── lib │ │ ├── isaac_evaluation │ │ └── __init__.py │ │ └── se3dif │ │ └── __init__.py │ ├── environment.yml │ ├── isaac_evaluation │ ├── __init__.py │ ├── grasp_quality_evaluation │ │ ├── __init__.py │ │ ├── evaluate_model.py │ │ └── grasps_sucess.py │ ├── grasp_sim │ │ ├── __init__.py │ │ ├── environments │ │ │ ├── __init__.py │ │ │ ├── grip_eval_env.py │ │ │ └── isaac_base_class.py │ │ ├── meshes │ │ │ ├── hand_only │ │ │ │ ├── meshes │ │ │ │ │ ├── collision │ │ │ │ │ │ └── hand.obj │ │ │ │ │ ├── custom │ │ │ │ │ │ └── full_filled_finger.obj │ │ │ │ │ └── visual │ │ │ │ │ │ ├── hand.dae │ │ │ │ │ │ ├── hand.mtl │ │ │ │ │ │ └── hand.obj │ │ │ │ └── robots │ │ │ │ │ └── franka_panda_hand.urdf │ │ │ ├── plane │ │ │ │ ├── plane.obj │ │ │ │ └── plane.urdf │ │ │ └── table │ │ │ │ ├── table.mtl │ │ │ │ ├── table.obj │ │ │ │ ├── table.png │ │ │ │ └── table.urdf │ │ ├── objects │ │ │ ├── __init__.py │ │ │ └── object.py │ │ └── robots │ │ │ ├── __init__.py │ │ │ └── gripper_only.py │ └── utils │ │ ├── __init__.py │ │ ├── generate_obj_urdf.py │ │ └── geometry_utils.py │ ├── notebooks │ └── se3_denoising_score_matching.ipynb │ ├── requirements-old.txt │ ├── requirements.txt │ ├── scripts │ ├── create_data │ │ ├── README.md │ │ ├── generate_mesh_sdf.py │ │ ├── organize_meshes.py │ │ └── simplify.sh │ ├── evaluate │ │ └── evaluate_pointcloud_6d_grasp_poses.py │ ├── make_your_gif │ │ ├── generate_grasp_trajectory.py │ │ ├── gifs │ │ │ └── grasp_dif.mp4 │ │ ├── git_to_mp4.py │ │ ├── make_gif.py │ │ └── mp4_to_gif.py │ ├── sample │ │ ├── generate_6d_grasp_poses.py │ │ ├── generate_partial_pointcloud_6d_grasp_poses.py │ │ └── generate_pointcloud_6d_grasp_poses.py │ └── train │ │ ├── params │ │ ├── graspdif │ │ │ └── params.json │ │ ├── multiobject_p_graspdif │ │ │ └── params.json │ │ ├── multiobject_partialp_graspdif │ │ │ └── params.json │ │ ├── pointcloud_projected_graspdif │ │ │ └── params.json │ │ └── projected_graspdif │ │ │ └── params.json │ │ ├── train_6d_grasp_diffusion.py │ │ ├── train_partial_pointcloud_6d_grasp_diffusion.py │ │ └── train_pointcloud_6d_grasp_diffusion.py │ ├── se3dif │ ├── __init__.py │ ├── datasets │ │ ├── __init__.py │ │ └── acronym_dataset.py │ ├── losses │ │ ├── __init__.py │ │ ├── denoising_loss.py │ │ ├── main.py │ │ └── sdf_loss.py │ ├── models │ │ ├── __init__.py │ │ ├── geometry_encoder │ │ │ ├── __init__.py │ │ │ └── maps.py │ │ ├── grasp_dif.py │ │ ├── loader.py │ │ ├── nets │ │ │ ├── __init__.py │ │ │ ├── energy_net.py │ │ │ └── feature_net.py │ │ ├── points │ │ │ ├── UniformPts.npy │ │ │ ├── __init__.py │ │ │ ├── generate_uniform_points.py │ │ │ └── get_3d_points.py │ │ └── vision_encoder │ │ │ ├── __init__.py │ │ │ ├── equiv_layers.py │ │ │ ├── latent_codes.py │ │ │ └── vnn_pointnet.py │ ├── samplers │ │ ├── __init__.py │ │ └── grasp_samplers.py │ ├── summaries │ │ ├── __init__.py │ │ ├── denoising_summary.py │ │ ├── sdf_summary.py │ │ └── summaries.py │ ├── trainer │ │ ├── __init__.py │ │ ├── learning_rate_scheduler.py │ │ └── trainer.py │ ├── utils │ │ ├── __init__.py │ │ ├── directory_utils.py │ │ ├── geometry_utils.py │ │ └── torch_utils.py │ └── visualization │ │ ├── __init__.py │ │ └── grasp_visualization.py │ └── setup.py ├── train.py └── utils ├── colors.py ├── io.py ├── meckinova_utils.py ├── misc.py ├── open3d_utils.py ├── path.py ├── plot.py ├── pointcloud_utils.py ├── registry.py ├── torch_urdf.py ├── transform.py └── visualize.py /README.md: -------------------------------------------------------------------------------- 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