├── .gitignore ├── README.md ├── __pycache__ ├── geometry_utils.cpython-37.pyc └── visualize.cpython-37.pyc ├── assets ├── grasps.jpg ├── pan.jpg ├── pc.gif └── tog.gif ├── cfg ├── eval │ └── gcngrasp │ │ ├── gcngrasp_split_mode_o_split_idx_0_.yml │ │ ├── gcngrasp_split_mode_o_split_idx_1_.yml │ │ ├── gcngrasp_split_mode_o_split_idx_2_.yml │ │ ├── gcngrasp_split_mode_o_split_idx_3_.yml │ │ ├── gcngrasp_split_mode_t_split_idx_0_.yml │ │ ├── gcngrasp_split_mode_t_split_idx_1_.yml │ │ ├── gcngrasp_split_mode_t_split_idx_2_.yml │ │ └── gcngrasp_split_mode_t_split_idx_3_.yml └── train │ └── gcngrasp │ ├── gcngrasp_split_mode_o_split_idx_0_.yml │ ├── gcngrasp_split_mode_o_split_idx_1_.yml │ ├── gcngrasp_split_mode_o_split_idx_2_.yml │ ├── gcngrasp_split_mode_o_split_idx_3_.yml │ ├── gcngrasp_split_mode_t_split_idx_0_.yml │ ├── gcngrasp_split_mode_t_split_idx_1_.yml │ ├── gcngrasp_split_mode_t_split_idx_2_.yml │ └── gcngrasp_split_mode_t_split_idx_3_.yml ├── collision.py ├── gcngrasp ├── __init__.py ├── __pycache__ │ ├── config.cpython-37.pyc │ └── data_specification.cpython-37.pyc ├── compute_ap.py ├── config.py ├── data │ ├── GCNLoader.py │ ├── SGNLoader.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── GCNLoader.cpython-37.pyc │ │ ├── SG14KLoader.cpython-37.pyc │ │ ├── SGNLoader.cpython-37.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── data_specification.cpython-37.pyc │ │ └── data_utils.cpython-37.pyc │ ├── data_specification.py │ ├── data_utils.py │ └── taskgrasp_objects.txt ├── data_specification.py ├── demo_db.py ├── demo_llm.py ├── eval.py ├── models │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── attention.cpython-37.pyc │ │ ├── gcn.cpython-37.pyc │ │ ├── graspgpt.cpython-37.pyc │ │ ├── graspgpt_plain.cpython-37.pyc │ │ ├── pct.cpython-37.pyc │ │ └── sgn.cpython-37.pyc │ └── graspgpt_plain.py ├── train.py └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-37.pyc │ └── splits.cpython-37.pyc │ └── splits.py ├── 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