├── .gitignore ├── README.md ├── environment.yml ├── neugraspnet.gif ├── neugraspnet ├── data │ ├── egad_eval_set │ │ ├── A0.obj │ │ ├── A1.obj │ │ ├── A2.obj │ │ ├── A3.obj │ │ ├── A4.obj │ │ ├── A5.obj │ │ ├── A6.obj │ │ ├── B0.obj │ │ ├── B1.obj │ │ ├── B2.obj │ │ ├── B3.obj │ │ ├── B4.obj │ │ ├── B5.obj │ │ ├── B6.obj │ │ ├── C0.obj │ │ ├── C1.obj │ │ ├── C2.obj │ │ ├── C3.obj │ │ ├── C4.obj │ │ ├── C5.obj │ │ ├── C6.obj │ │ ├── D0.obj │ │ ├── D1.obj │ │ ├── D2.obj │ │ ├── D3.obj │ │ ├── D4.obj │ │ ├── D5.obj │ │ ├── D6.obj │ │ ├── E0.obj │ │ ├── E1.obj │ │ ├── E2.obj │ │ ├── E3.obj │ │ ├── E4.obj │ │ ├── E5.obj │ │ ├── E6.obj │ │ ├── F0.obj │ │ ├── F1.obj │ │ ├── F2.obj │ │ ├── F3.obj │ │ ├── F4.obj │ │ ├── F5.obj │ │ ├── F6.obj │ │ ├── G0.obj │ │ ├── G1.obj │ │ ├── G2.obj │ │ ├── G3.obj │ │ ├── G4.obj │ │ ├── G5.obj │ │ └── G6.obj │ ├── grasp_cloud_setup.json │ ├── grasp_cloud_setup_efficient.json │ ├── networks │ │ └── neugraspnet_pile_efficient.pt │ └── urdfs │ │ ├── panda │ │ ├── hand.urdf │ │ └── meshes │ │ │ ├── collision │ │ │ ├── finger.obj │ │ │ └── hand.obj │ │ │ └── visual │ │ │ ├── colors.png │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ └── hand.obj │ │ ├── pile │ │ ├── test │ │ │ ├── 3m_high_tack_spray_adhesive.urdf │ │ │ ├── 3m_high_tack_spray_adhesive_collision.obj │ │ │ ├── 3m_high_tack_spray_adhesive_visual.obj │ │ │ ├── BakingVanilla_800_tex.urdf │ │ │ ├── BakingVanilla_800_tex_collision.obj │ │ │ ├── BakingVanilla_800_tex_visual.obj │ │ │ ├── ChocSticks2_800_tex.urdf │ │ │ ├── ChocSticks2_800_tex_collision.obj │ │ │ ├── ChocSticks2_800_tex_visual.obj │ │ │ ├── ChocSticks_800_tex.urdf │ │ │ ├── ChocSticks_800_tex_collision.obj │ │ │ ├── ChocSticks_800_tex_visual.obj │ │ │ ├── CoffeeCookies_800_tex.urdf │ │ │ ├── CoffeeCookies_800_tex_collision.obj │ │ │ ├── CoffeeCookies_800_tex_visual.obj │ │ │ ├── FennelTea_800_tex.urdf │ │ │ ├── FennelTea_800_tex_collision.obj │ │ │ ├── FennelTea_800_tex_visual.obj │ │ │ ├── FruitTea_800_tex.urdf │ │ │ ├── FruitTea_800_tex_collision.obj │ │ │ ├── FruitTea_800_tex_visual.obj │ │ │ ├── KoalaCandy_800_tex.urdf │ │ │ ├── KoalaCandy_800_tex_collision.obj │ │ │ ├── KoalaCandy_800_tex_visual.obj │ │ │ ├── NutCandy_800_tex.urdf │ │ │ ├── NutCandy_800_tex_collision.obj │ │ │ ├── NutCandy_800_tex_visual.obj │ │ │ ├── Paprika_800_tex.urdf │ │ │ ├── Paprika_800_tex_collision.obj │ │ │ ├── Paprika_800_tex_visual.obj │ │ │ ├── PotatoeDumplings_800_tex.urdf │ │ │ ├── PotatoeDumplings_800_tex_collision.obj │ │ │ ├── PotatoeDumplings_800_tex_visual.obj │ │ │ ├── SoftCakeOrange_800_tex.urdf │ │ │ ├── SoftCakeOrange_800_tex_collision.obj │ │ │ ├── SoftCakeOrange_800_tex_visual.obj │ │ │ ├── bea77759a3e5f9037ae0031c221d81a4.urdf │ │ │ ├── bea77759a3e5f9037ae0031c221d81a4_collision.obj │ │ │ ├── bea77759a3e5f9037ae0031c221d81a4_visual.obj │ │ │ ├── blackshoes.urdf │ │ │ ├── blackshoes_collision.obj │ │ │ ├── blackshoes_visual.obj │ │ │ ├── boot_poisson_005.urdf │ │ │ ├── boot_poisson_005_collision.obj │ │ │ ├── boot_poisson_005_visual.obj │ │ │ ├── bottle_new_poisson_000.urdf │ │ │ ├── bottle_new_poisson_000_collision.obj │ │ │ ├── bottle_new_poisson_000_visual.obj │ │ │ ├── bowl.urdf │ │ │ ├── bowl_collision.obj │ │ │ ├── bowl_visual.obj │ │ │ ├── bowling_pin_poisson_000.urdf │ │ │ ├── bowling_pin_poisson_000_collision.obj │ │ │ ├── bowling_pin_poisson_000_visual.obj │ │ │ ├── bumblebee_albacore.urdf │ │ │ ├── bumblebee_albacore_collision.obj │ │ │ ├── bumblebee_albacore_visual.obj │ │ │ ├── chips_can.urdf │ │ │ ├── chips_can_collision.obj │ │ │ ├── chips_can_visual.obj │ │ │ ├── cracker_box.urdf │ │ │ ├── cracker_box_collision.obj │ │ │ ├── cracker_box_visual.obj │ │ │ ├── donut_poisson_000.urdf │ │ │ ├── donut_poisson_000_collision.obj │ │ │ ├── donut_poisson_000_visual.obj │ │ │ ├── donut_poisson_006.urdf │ │ │ ├── donut_poisson_006_collision.obj │ │ │ ├── donut_poisson_006_visual.obj │ │ │ ├── hammer_poisson_008.urdf │ │ │ ├── hammer_poisson_008_collision.obj │ │ │ ├── hammer_poisson_008_visual.obj │ │ │ ├── hammer_poisson_009.urdf │ │ │ ├── hammer_poisson_009_collision.obj │ │ │ ├── hammer_poisson_009_visual.obj │ │ │ ├── hammer_poisson_012.urdf │ │ │ ├── hammer_poisson_012_collision.obj │ │ │ ├── hammer_poisson_012_visual.obj │ │ │ ├── jar_poisson_004.urdf │ │ │ ├── jar_poisson_004_collision.obj │ │ │ ├── jar_poisson_004_visual.obj │ │ │ ├── lemon_poisson_000.urdf │ │ │ ├── lemon_poisson_000_collision.obj │ │ │ ├── lemon_poisson_000_visual.obj │ │ │ ├── light_bulb_poisson_001.urdf │ │ │ ├── light_bulb_poisson_001_collision.obj │ │ │ ├── light_bulb_poisson_001_visual.obj │ │ │ ├── master_chef_can.urdf │ │ │ ├── master_chef_can_collision.obj │ │ │ ├── master_chef_can_visual.obj │ │ │ ├── mushroom_poisson_005.urdf │ │ │ ├── mushroom_poisson_005_collision.obj │ │ │ ├── mushroom_poisson_005_visual.obj │ │ │ ├── pliers_poisson_014.urdf │ │ │ ├── pliers_poisson_014_collision.obj │ │ │ ├── pliers_poisson_014_visual.obj │ │ │ ├── pop_secret_butter.urdf │ │ │ ├── pop_secret_butter_collision.obj │ │ │ ├── pop_secret_butter_visual.obj │ │ │ ├── pudding_box.urdf │ │ │ ├── pudding_box_collision.obj │ │ │ ├── pudding_box_visual.obj │ │ │ ├── quaker_big_chewy_chocolate_chip.urdf │ │ │ ├── quaker_big_chewy_chocolate_chip_collision.obj │ │ │ ├── quaker_big_chewy_chocolate_chip_visual.obj │ │ │ ├── rubik_cube_poisson_004.urdf │ │ │ ├── rubik_cube_poisson_004_collision.obj │ │ │ ├── rubik_cube_poisson_004_visual.obj │ │ │ ├── soccer_ball_poisson_000.urdf │ │ │ ├── soccer_ball_poisson_000_collision.obj │ │ │ ├── soccer_ball_poisson_000_visual.obj │ │ │ ├── south_beach_good_to_go_dark_chocolate.urdf │ │ │ ├── south_beach_good_to_go_dark_chocolate_collision.obj │ │ │ ├── south_beach_good_to_go_dark_chocolate_visual.obj │ │ │ ├── spray_can_poisson_001.urdf │ │ │ ├── spray_can_poisson_001_collision.obj │ │ │ ├── spray_can_poisson_001_visual.obj │ │ │ ├── wooden_block.urdf │ │ │ ├── wooden_block_collision.obj │ │ │ └── wooden_block_visual.obj │ │ └── train │ │ │ ├── 114509277e76e413c8724d5673a063a6.urdf │ │ │ ├── 114509277e76e413c8724d5673a063a6_collision.obj │ │ │ ├── 114509277e76e413c8724d5673a063a6_visual.obj │ │ │ ├── 437678d4bc6be981c8724d5673a063a6.urdf │ │ │ ├── 437678d4bc6be981c8724d5673a063a6_collision.obj │ │ │ ├── 437678d4bc6be981c8724d5673a063a6_visual.obj │ │ │ ├── 4845731dbf7522b07492cbf7d8bec255.urdf │ │ │ ├── 4845731dbf7522b07492cbf7d8bec255_collision.obj │ │ │ ├── 4845731dbf7522b07492cbf7d8bec255_visual.obj │ │ │ ├── 542235fc88d22e1e3406473757712946.urdf │ │ │ ├── 542235fc88d22e1e3406473757712946_collision.obj │ │ │ ├── 542235fc88d22e1e3406473757712946_visual.obj │ │ │ ├── 6aec84952a5ffcf33f60d03e1cb068dc.urdf │ │ │ ├── 6aec84952a5ffcf33f60d03e1cb068dc_collision.obj │ │ │ ├── 6aec84952a5ffcf33f60d03e1cb068dc_visual.obj │ │ │ ├── 8bb057d18e2fcc4779368d1198f406e7.urdf │ │ │ ├── 8bb057d18e2fcc4779368d1198f406e7_collision.obj │ │ │ ├── 8bb057d18e2fcc4779368d1198f406e7_visual.obj │ │ │ ├── 970027a2c9f1de88c123147a914238ea.urdf │ │ │ ├── 970027a2c9f1de88c123147a914238ea_collision.obj │ │ │ ├── 970027a2c9f1de88c123147a914238ea_visual.obj │ │ │ ├── 9d8c711750a73b06ad1d789f3b2120d0.urdf │ │ │ ├── 9d8c711750a73b06ad1d789f3b2120d0_collision.obj │ │ │ ├── 9d8c711750a73b06ad1d789f3b2120d0_visual.obj │ │ │ ├── Amicelli_800_tex.urdf │ │ │ ├── Amicelli_800_tex_collision.obj │ │ │ ├── Amicelli_800_tex_visual.obj │ │ │ ├── BakingSoda_800_tex.urdf │ │ │ ├── BakingSoda_800_tex_collision.obj │ │ │ ├── BakingSoda_800_tex_visual.obj │ │ │ ├── BathDetergent_800_tex.urdf │ │ │ ├── BathDetergent_800_tex_collision.obj │ │ │ ├── BathDetergent_800_tex_visual.obj │ │ │ ├── BellPepper_v1_L3.urdf │ │ │ ├── BellPepper_v1_L3_collision.obj │ │ │ ├── BellPepper_v1_L3_visual.obj │ │ │ ├── BlueSaltCube_800_tex.urdf │ │ │ ├── BlueSaltCube_800_tex_collision.obj │ │ │ ├── BlueSaltCube_800_tex_visual.obj │ │ │ ├── CatLying_800_tex.urdf │ │ │ ├── CatLying_800_tex_collision.obj │ │ │ ├── CatLying_800_tex_visual.obj │ │ │ ├── CatSitting_800_tex.urdf │ │ │ ├── CatSitting_800_tex_collision.obj │ │ │ ├── CatSitting_800_tex_visual.obj │ │ │ ├── ChocMarshmallows_800_tex.urdf │ │ │ ├── ChocMarshmallows_800_tex_collision.obj │ │ │ ├── ChocMarshmallows_800_tex_visual.obj │ │ │ ├── ChocoIcing_800_tex.urdf │ │ │ ├── ChocoIcing_800_tex_collision.obj │ │ │ ├── ChocoIcing_800_tex_visual.obj │ │ │ ├── ChoppedTomatoes_800_tex.urdf │ │ │ ├── ChoppedTomatoes_800_tex_collision.obj │ │ │ ├── ChoppedTomatoes_800_tex_visual.obj │ │ │ ├── Clown_800_tex.urdf │ │ │ ├── Clown_800_tex_collision.obj │ │ │ ├── Clown_800_tex_visual.obj │ │ │ ├── CoffeeBox_800_tex.urdf │ │ │ ├── CoffeeBox_800_tex_collision.obj │ │ │ ├── CoffeeBox_800_tex_visual.obj │ │ │ ├── CoffeeFilters_800_tex.urdf │ │ │ ├── CoffeeFilters_800_tex_collision.obj │ │ │ ├── CoffeeFilters_800_tex_visual.obj │ │ │ ├── CokePlasticLarge_800_tex.urdf │ │ │ ├── CokePlasticLarge_800_tex_collision.obj │ │ │ ├── CokePlasticLarge_800_tex_visual.obj │ │ │ ├── CokePlasticSmall_800_tex.urdf │ │ │ ├── CokePlasticSmall_800_tex_collision.obj │ │ │ ├── CokePlasticSmall_800_tex_visual.obj │ │ │ ├── CoughDropsBerries_800_tex.urdf │ │ │ ├── CoughDropsBerries_800_tex_collision.obj │ │ │ ├── CoughDropsBerries_800_tex_visual.obj │ │ │ ├── CoughDropsHoney_800_tex.urdf │ │ │ ├── CoughDropsHoney_800_tex_collision.obj │ │ │ ├── CoughDropsHoney_800_tex_visual.obj │ │ │ ├── Curry_800_tex.urdf │ │ │ ├── Curry_800_tex_collision.obj │ │ │ ├── Curry_800_tex_visual.obj │ │ │ ├── DanishHam_800_tex.urdf │ │ │ ├── DanishHam_800_tex_collision.obj │ │ │ ├── DanishHam_800_tex_visual.obj │ │ │ ├── Deodorant_800_tex.urdf │ │ │ ├── Deodorant_800_tex_collision.obj │ │ │ ├── Deodorant_800_tex_visual.obj │ │ │ ├── DropsCherry_800_tex.urdf │ │ │ ├── DropsCherry_800_tex_collision.obj │ │ │ ├── DropsCherry_800_tex_visual.obj │ │ │ ├── Dwarf_800_tex.urdf │ │ │ ├── Dwarf_800_tex_collision.obj │ │ │ ├── Dwarf_800_tex_visual.obj │ │ │ ├── Fish_800_tex.urdf │ │ │ ├── Fish_800_tex_collision.obj │ │ │ ├── Fish_800_tex_visual.obj │ │ │ ├── FizzyTabletsCalcium_800_tex.urdf │ │ │ ├── FizzyTabletsCalcium_800_tex_collision.obj │ │ │ ├── FizzyTabletsCalcium_800_tex_visual.obj │ │ │ ├── FruitBars_800_tex.urdf │ │ │ ├── FruitBars_800_tex_collision.obj │ │ │ ├── FruitBars_800_tex_visual.obj │ │ │ ├── FruitDrink_800_tex.urdf │ │ │ ├── FruitDrink_800_tex_collision.obj │ │ │ ├── FruitDrink_800_tex_visual.obj │ │ │ ├── GreenCup_800_tex.urdf │ │ │ ├── GreenCup_800_tex_collision.obj │ │ │ ├── GreenCup_800_tex_visual.obj │ │ │ ├── GreenSaltCylinder_800_tex.urdf │ │ │ ├── GreenSaltCylinder_800_tex_collision.obj │ │ │ ├── GreenSaltCylinder_800_tex_visual.obj │ │ │ ├── HamburgerSauce_800_tex.urdf │ │ │ ├── HamburgerSauce_800_tex_collision.obj │ │ │ ├── HamburgerSauce_800_tex_visual.obj │ │ │ ├── Heart1_800_tex.urdf │ │ │ ├── Heart1_800_tex_collision.obj │ │ │ ├── Heart1_800_tex_visual.obj │ │ │ ├── HerbSalt_800_tex.urdf │ │ │ ├── HerbSalt_800_tex_collision.obj │ │ │ ├── HerbSalt_800_tex_visual.obj │ │ │ ├── HeringTin_800_tex.urdf │ │ │ ├── HeringTin_800_tex_collision.obj │ │ │ ├── HeringTin_800_tex_visual.obj │ │ │ ├── HotPot_800_tex.urdf │ │ │ ├── HotPot_800_tex_collision.obj │ │ │ ├── HotPot_800_tex_visual.obj │ │ │ ├── HygieneSpray_800_tex.urdf │ │ │ ├── HygieneSpray_800_tex_collision.obj │ │ │ ├── HygieneSpray_800_tex_visual.obj │ │ │ ├── InstantDumplings_800_tex.urdf │ │ │ ├── InstantDumplings_800_tex_collision.obj │ │ │ ├── InstantDumplings_800_tex_visual.obj │ │ │ ├── InstantIceCoffee_800_tex.urdf │ │ │ ├── InstantIceCoffee_800_tex_collision.obj │ │ │ ├── InstantIceCoffee_800_tex_visual.obj │ │ │ ├── InstantMousse_800_tex.urdf │ │ │ ├── InstantMousse_800_tex_collision.obj │ │ │ ├── InstantMousse_800_tex_visual.obj │ │ │ ├── InstantSauce2_800_tex.urdf │ │ │ ├── InstantSauce2_800_tex_collision.obj │ │ │ ├── InstantSauce2_800_tex_visual.obj │ │ │ ├── InstantSauce_800_tex.urdf │ │ │ ├── InstantSauce_800_tex_collision.obj │ │ │ ├── InstantSauce_800_tex_visual.obj │ │ │ ├── InstantSoup_800_tex.urdf │ │ │ ├── InstantSoup_800_tex_collision.obj │ │ │ ├── InstantSoup_800_tex_visual.obj │ │ │ ├── InstantTomatoSoup_800_tex.urdf │ │ │ ├── InstantTomatoSoup_800_tex_collision.obj │ │ │ ├── InstantTomatoSoup_800_tex_visual.obj │ │ │ ├── JamSugar_800_tex.urdf │ │ │ ├── JamSugar_800_tex_collision.obj │ │ │ ├── JamSugar_800_tex_visual.obj │ │ │ ├── Knaeckebrot_800_tex.urdf │ │ │ ├── Knaeckebrot_800_tex_collision.obj │ │ │ ├── Knaeckebrot_800_tex_visual.obj │ │ │ ├── LivioClassicOil_800_tex.urdf │ │ │ ├── LivioClassicOil_800_tex_collision.obj │ │ │ ├── LivioClassicOil_800_tex_visual.obj │ │ │ ├── Margarine_800_tex.urdf │ │ │ ├── Margarine_800_tex_collision.obj │ │ │ ├── Margarine_800_tex_visual.obj │ │ │ ├── Marjoram_800_tex.urdf │ │ │ ├── Marjoram_800_tex_collision.obj │ │ │ ├── Marjoram_800_tex_visual.obj │ │ │ ├── MelforBottle_800_tex.urdf │ │ │ ├── MelforBottle_800_tex_collision.obj │ │ │ ├── MelforBottle_800_tex_visual.obj │ │ │ ├── MilkDrinkVanilla_800_tex.urdf │ │ │ ├── MilkDrinkVanilla_800_tex_collision.obj │ │ │ ├── MilkDrinkVanilla_800_tex_visual.obj │ │ │ ├── MilkRice_800_tex.urdf │ │ │ ├── MilkRice_800_tex_collision.obj │ │ │ ├── MilkRice_800_tex_visual.obj │ │ │ ├── Moon_800_tex.urdf │ │ │ ├── Moon_800_tex_collision.obj │ │ │ ├── Moon_800_tex_visual.obj │ │ │ ├── MuesliBars_800_tex.urdf │ │ │ ├── MuesliBars_800_tex_collision.obj │ │ │ ├── MuesliBars_800_tex_visual.obj │ │ │ ├── NutellaGo_800_tex.urdf │ │ │ ├── NutellaGo_800_tex_collision.obj │ │ │ ├── NutellaGo_800_tex_visual.obj │ │ │ ├── OrangeMarmelade_800_tex.urdf │ │ │ ├── OrangeMarmelade_800_tex_collision.obj │ │ │ ├── OrangeMarmelade_800_tex_visual.obj │ │ │ ├── OrgHerbTea_800_tex.urdf │ │ │ ├── OrgHerbTea_800_tex_collision.obj │ │ │ ├── OrgHerbTea_800_tex_visual.obj │ │ │ ├── PatchesSensitive_800_tex.urdf │ │ │ ├── PatchesSensitive_800_tex_collision.obj │ │ │ ├── PatchesSensitive_800_tex_visual.obj │ │ │ ├── Patches_800_tex.urdf │ │ │ ├── Patches_800_tex_collision.obj │ │ │ ├── Patches_800_tex_visual.obj │ │ │ ├── Peanuts2_800_tex.urdf │ │ │ ├── Peanuts2_800_tex_collision.obj │ │ │ ├── Peanuts2_800_tex_visual.obj │ │ │ ├── Peas_800_tex.urdf │ │ │ ├── Peas_800_tex_collision.obj │ │ │ ├── Peas_800_tex_visual.obj │ │ │ ├── PineappleSlices_800_tex.urdf │ │ │ ├── PineappleSlices_800_tex_collision.obj │ │ │ ├── PineappleSlices_800_tex_visual.obj │ │ │ ├── Pitcher_800_tex.urdf │ │ │ ├── Pitcher_800_tex_collision.obj │ │ │ ├── Pitcher_800_tex_visual.obj │ │ │ ├── Pony_800_tex.urdf │ │ │ ├── Pony_800_tex_collision.obj │ │ │ ├── Pony_800_tex_visual.obj │ │ │ ├── PotatoeStarch_800_tex.urdf │ │ │ ├── PotatoeStarch_800_tex_collision.obj │ │ │ ├── PotatoeStarch_800_tex_visual.obj │ │ │ ├── PowderedSugarMill_800_tex.urdf │ │ │ ├── PowderedSugarMill_800_tex_collision.obj │ │ │ ├── PowderedSugarMill_800_tex_visual.obj │ │ │ ├── PowderedSugar_800_tex.urdf │ │ │ ├── PowderedSugar_800_tex_collision.obj │ │ │ ├── PowderedSugar_800_tex_visual.obj │ │ │ ├── RavioliLarge_800_tex.urdf │ │ │ ├── RavioliLarge_800_tex_collision.obj │ │ │ ├── RavioliLarge_800_tex_visual.obj │ │ │ ├── RedCup_800_tex.urdf │ │ │ ├── RedCup_800_tex_collision.obj │ │ │ ├── RedCup_800_tex_visual.obj │ │ │ ├── RuskWholemeal_800_tex.urdf │ │ │ ├── RuskWholemeal_800_tex_collision.obj │ │ │ ├── RuskWholemeal_800_tex_visual.obj │ │ │ ├── Rusk_800_tex.urdf │ │ │ ├── Rusk_800_tex_collision.obj │ │ │ ├── Rusk_800_tex_visual.obj │ │ │ ├── SauceThickener_800_tex.urdf │ │ │ ├── SauceThickener_800_tex_collision.obj │ │ │ ├── SauceThickener_800_tex_visual.obj │ │ │ ├── SauerkrautSmall_800_tex.urdf │ │ │ ├── SauerkrautSmall_800_tex_collision.obj │ │ │ ├── SauerkrautSmall_800_tex_visual.obj │ │ │ ├── Sauerkraut_800_tex.urdf │ │ │ ├── Sauerkraut_800_tex_collision.obj │ │ │ ├── Sauerkraut_800_tex_visual.obj │ │ │ ├── Seal_800_tex.urdf │ │ │ ├── Seal_800_tex_collision.obj │ │ │ ├── Seal_800_tex_visual.obj │ │ │ ├── Shampoo_800_tex.urdf │ │ │ ├── Shampoo_800_tex_collision.obj │ │ │ ├── Shampoo_800_tex_visual.obj │ │ │ ├── ShoeNike.urdf │ │ │ ├── ShoeNike_collision.obj │ │ │ ├── ShoeNike_visual.obj │ │ │ ├── ShowerGel_800_tex.urdf │ │ │ ├── ShowerGel_800_tex_collision.obj │ │ │ ├── ShowerGel_800_tex_visual.obj │ │ │ ├── SoftCheese_800_tex.urdf │ │ │ ├── SoftCheese_800_tex_collision.obj │ │ │ ├── SoftCheese_800_tex_visual.obj │ │ │ ├── Sprudelflasche_800_tex.urdf │ │ │ ├── Sprudelflasche_800_tex_collision.obj │ │ │ ├── Sprudelflasche_800_tex_visual.obj │ │ │ ├── Sweetener_800_tex.urdf │ │ │ ├── Sweetener_800_tex_collision.obj │ │ │ ├── Sweetener_800_tex_visual.obj │ │ │ ├── TomatoHerbSauce_800_tex.urdf │ │ │ ├── TomatoHerbSauce_800_tex_collision.obj │ │ │ ├── TomatoHerbSauce_800_tex_visual.obj │ │ │ ├── TomatoSauce_800_tex.urdf │ │ │ ├── TomatoSauce_800_tex_collision.obj │ │ │ ├── TomatoSauce_800_tex_visual.obj │ │ │ ├── Toothpaste_800_tex.urdf │ │ │ ├── Toothpaste_800_tex_collision.obj │ │ │ ├── Toothpaste_800_tex_visual.obj │ │ │ ├── Tortoise_800_tex.urdf │ │ │ ├── Tortoise_800_tex_collision.obj │ │ │ ├── Tortoise_800_tex_visual.obj │ │ │ ├── VitalisCereals_800_tex.urdf │ │ │ ├── VitalisCereals_800_tex_collision.obj │ │ │ ├── VitalisCereals_800_tex_visual.obj │ │ │ ├── WedgeShoe2.urdf │ │ │ ├── WedgeShoe2_collision.obj │ │ │ ├── WedgeShoe2_visual.obj │ │ │ ├── WhippedCream2_800_tex.urdf │ │ │ ├── WhippedCream2_800_tex_collision.obj │ │ │ ├── WhippedCream2_800_tex_visual.obj │ │ │ ├── WhippedCream_800_tex.urdf │ │ │ ├── WhippedCream_800_tex_collision.obj │ │ │ ├── WhippedCream_800_tex_visual.obj │ │ │ ├── YellowSaltCube2_800_tex.urdf │ │ │ ├── YellowSaltCube2_800_tex_collision.obj │ │ │ ├── YellowSaltCube2_800_tex_visual.obj │ │ │ ├── YellowSaltCube_800_tex.urdf │ │ │ ├── YellowSaltCube_800_tex_collision.obj │ │ │ ├── YellowSaltCube_800_tex_visual.obj │ │ │ ├── YellowSaltCylinderSmall_800_tex.urdf │ │ │ ├── YellowSaltCylinderSmall_800_tex_collision.obj │ │ │ ├── YellowSaltCylinderSmall_800_tex_visual.obj │ │ │ ├── YellowSaltCylinder_800_tex.urdf │ │ │ ├── YellowSaltCylinder_800_tex_collision.obj │ │ │ ├── YellowSaltCylinder_800_tex_visual.obj │ │ │ ├── a62129fa3fe48f0197d8a3751675d89f.urdf │ │ │ ├── a62129fa3fe48f0197d8a3751675d89f_collision.obj │ │ │ ├── a62129fa3fe48f0197d8a3751675d89f_visual.obj │ │ │ ├── advil_liqui_gels.urdf │ │ │ ├── advil_liqui_gels_collision.obj │ │ │ ├── advil_liqui_gels_visual.obj │ │ │ ├── apple.urdf │ │ │ ├── apple_collision.obj │ │ │ ├── apple_visual.obj │ │ │ ├── avocado_poisson_000.urdf │ │ │ ├── avocado_poisson_000_collision.obj │ │ │ ├── avocado_poisson_000_visual.obj │ │ │ ├── avocado_poisson_001.urdf │ │ │ ├── avocado_poisson_001_collision.obj │ │ │ ├── avocado_poisson_001_visual.obj │ │ │ ├── banana.urdf │ │ │ ├── banana_collision.obj │ │ │ ├── banana_poisson_000.urdf │ │ │ ├── banana_poisson_000_collision.obj │ │ │ ├── banana_poisson_000_visual.obj │ │ │ ├── banana_poisson_001.urdf │ │ │ ├── banana_poisson_001_collision.obj │ │ │ ├── banana_poisson_001_visual.obj │ │ │ ├── banana_poisson_002.urdf │ │ │ ├── banana_poisson_002_collision.obj │ │ │ ├── banana_poisson_002_visual.obj │ │ │ ├── banana_visual.obj │ │ │ ├── band_aid_clear_strips.urdf │ │ │ ├── band_aid_clear_strips_collision.obj │ │ │ ├── band_aid_clear_strips_visual.obj │ │ │ ├── band_aid_sheer_strips.urdf │ │ │ ├── band_aid_sheer_strips_collision.obj │ │ │ ├── band_aid_sheer_strips_visual.obj │ │ │ ├── binder_poisson_004.urdf │ │ │ ├── binder_poisson_004_collision.obj │ │ │ ├── binder_poisson_004_visual.obj │ │ │ ├── bleach_cleanser.urdf │ │ │ ├── bleach_cleanser_collision.obj │ │ │ ├── bleach_cleanser_visual.obj │ │ │ ├── blue_clover_baby_toy.urdf │ │ │ ├── blue_clover_baby_toy_collision.obj │ │ │ ├── blue_clover_baby_toy_visual.obj │ │ │ ├── boot_poisson_002.urdf │ │ │ ├── boot_poisson_002_collision.obj │ │ │ ├── boot_poisson_002_visual.obj │ │ │ ├── boot_poisson_004.urdf │ │ │ ├── boot_poisson_004_collision.obj │ │ │ ├── boot_poisson_004_visual.obj │ │ │ ├── boot_poisson_006.urdf │ │ │ ├── boot_poisson_006_collision.obj │ │ │ ├── boot_poisson_006_visual.obj │ │ │ ├── bowl_poisson_005.urdf │ │ │ ├── bowl_poisson_005_collision.obj │ │ │ ├── bowl_poisson_005_visual.obj │ │ │ ├── bowl_poisson_015.urdf │ │ │ ├── bowl_poisson_015_collision.obj │ │ │ ├── bowl_poisson_015_visual.obj │ │ │ ├── bowl_poisson_022.urdf │ │ │ ├── bowl_poisson_022_collision.obj │ │ │ ├── bowl_poisson_022_visual.obj │ │ │ ├── bowl_poisson_025.urdf │ │ │ ├── bowl_poisson_025_collision.obj │ │ │ ├── bowl_poisson_025_visual.obj │ │ │ ├── bowl_poisson_028.urdf │ │ │ ├── bowl_poisson_028_collision.obj │ │ │ ├── bowl_poisson_028_visual.obj │ │ │ ├── bowl_poisson_030.urdf │ │ │ ├── bowl_poisson_030_collision.obj │ │ │ ├── bowl_poisson_030_visual.obj │ │ │ ├── box_new_poisson_000.urdf │ │ │ ├── box_new_poisson_000_collision.obj │ │ │ ├── box_new_poisson_000_visual.obj │ │ │ ├── box_poisson_000.urdf │ │ │ ├── box_poisson_000_collision.obj │ │ │ ├── box_poisson_000_visual.obj │ │ │ ├── box_poisson_002.urdf │ │ │ ├── box_poisson_002_collision.obj │ │ │ ├── box_poisson_002_visual.obj │ │ │ ├── box_poisson_003.urdf │ │ │ ├── box_poisson_003_collision.obj │ │ │ ├── box_poisson_003_visual.obj │ │ │ ├── box_poisson_006.urdf │ │ │ ├── box_poisson_006_collision.obj │ │ │ ├── box_poisson_006_visual.obj │ │ │ ├── camera_poisson_003.urdf │ │ │ ├── camera_poisson_003_collision.obj │ │ │ ├── camera_poisson_003_visual.obj │ │ │ ├── camera_poisson_006.urdf │ │ │ ├── camera_poisson_006_collision.obj │ │ │ ├── camera_poisson_006_visual.obj │ │ │ ├── camera_poisson_007.urdf │ │ │ ├── camera_poisson_007_collision.obj │ │ │ ├── camera_poisson_007_visual.obj │ │ │ ├── camera_poisson_010.urdf │ │ │ ├── camera_poisson_010_collision.obj │ │ │ ├── camera_poisson_010_visual.obj │ │ │ ├── campbells_chicken_noodle_soup.urdf │ │ │ ├── campbells_chicken_noodle_soup_collision.obj │ │ │ ├── campbells_chicken_noodle_soup_visual.obj │ │ │ ├── campbells_soup_at_hand_creamy_tomato.urdf │ │ │ ├── campbells_soup_at_hand_creamy_tomato_collision.obj │ │ │ ├── campbells_soup_at_hand_creamy_tomato_visual.obj │ │ │ ├── can_poisson_002.urdf │ │ │ ├── can_poisson_002_collision.obj │ │ │ ├── can_poisson_002_visual.obj │ │ │ ├── can_poisson_003.urdf │ │ │ ├── can_poisson_003_collision.obj │ │ │ ├── can_poisson_003_visual.obj │ │ │ ├── can_poisson_007.urdf │ │ │ ├── can_poisson_007_collision.obj │ │ │ ├── can_poisson_007_visual.obj │ │ │ ├── canon_ack_e10_box.urdf │ │ │ ├── canon_ack_e10_box_collision.obj │ │ │ ├── canon_ack_e10_box_visual.obj │ │ │ ├── cellphone_poisson_025.urdf │ │ │ ├── cellphone_poisson_025_collision.obj │ │ │ ├── cellphone_poisson_025_visual.obj │ │ │ ├── cellphone_poisson_031.urdf │ │ │ ├── cellphone_poisson_031_collision.obj │ │ │ ├── cellphone_poisson_031_visual.obj │ │ │ ├── cellphone_poisson_032.urdf │ │ │ ├── cellphone_poisson_032_collision.obj │ │ │ ├── cellphone_poisson_032_visual.obj │ │ │ ├── champagne_glass_poisson_001.urdf │ │ │ ├── champagne_glass_poisson_001_collision.obj │ │ │ ├── champagne_glass_poisson_001_visual.obj │ │ │ ├── cheez_it_white_cheddar.urdf │ │ │ ├── cheez_it_white_cheddar_collision.obj │ │ │ ├── cheez_it_white_cheddar_visual.obj │ │ │ ├── chewy_dipps_chocolate_chip.urdf │ │ │ ├── chewy_dipps_chocolate_chip_collision.obj │ │ │ ├── chewy_dipps_chocolate_chip_visual.obj │ │ │ ├── chewy_dipps_peanut_butter.urdf │ │ │ ├── chewy_dipps_peanut_butter_collision.obj │ │ │ ├── chewy_dipps_peanut_butter_visual.obj │ │ │ ├── cholula_chipotle_hot_sauce.urdf │ │ │ ├── cholula_chipotle_hot_sauce_collision.obj │ │ │ ├── cholula_chipotle_hot_sauce_visual.obj │ │ │ ├── cinnamon_toast_crunch.urdf │ │ │ ├── cinnamon_toast_crunch_collision.obj │ │ │ ├── cinnamon_toast_crunch_visual.obj │ │ │ ├── clif_crunch_chocolate_chip.urdf │ │ │ ├── clif_crunch_chocolate_chip_collision.obj │ │ │ ├── clif_crunch_chocolate_chip_visual.obj │ │ │ ├── coffee_mate_french_vanilla.urdf │ │ │ ├── coffee_mate_french_vanilla_collision.obj │ │ │ ├── coffee_mate_french_vanilla_visual.obj │ │ │ ├── colgate_cool_mint.urdf │ │ │ ├── colgate_cool_mint_collision.obj │ │ │ ├── colgate_cool_mint_visual.obj │ │ │ ├── crayola_24_crayons.urdf │ │ │ ├── crayola_24_crayons_collision.obj │ │ │ ├── crayola_24_crayons_visual.obj │ │ │ ├── crest_complete_minty_fresh.urdf │ │ │ ├── crest_complete_minty_fresh_collision.obj │ │ │ ├── crest_complete_minty_fresh_visual.obj │ │ │ ├── croissant_poisson_000.urdf │ │ │ ├── croissant_poisson_000_collision.obj │ │ │ ├── croissant_poisson_000_visual.obj │ │ │ ├── crystal_hot_sauce.urdf │ │ │ ├── crystal_hot_sauce_collision.obj │ │ │ ├── crystal_hot_sauce_visual.obj │ │ │ ├── cucumber_poisson_000.urdf │ │ │ ├── cucumber_poisson_000_collision.obj │ │ │ ├── cucumber_poisson_000_visual.obj │ │ │ ├── cup_noodles_chicken.urdf │ │ │ ├── cup_noodles_chicken_collision.obj │ │ │ ├── cup_noodles_chicken_visual.obj │ │ │ ├── detergent.urdf │ │ │ ├── detergent_bottle_poisson_001.urdf │ │ │ ├── detergent_bottle_poisson_001_collision.obj │ │ │ ├── detergent_bottle_poisson_001_visual.obj │ │ │ ├── detergent_bottle_poisson_002.urdf │ │ │ ├── detergent_bottle_poisson_002_collision.obj │ │ │ ├── detergent_bottle_poisson_002_visual.obj │ │ │ ├── detergent_bottle_poisson_003.urdf │ │ │ ├── detergent_bottle_poisson_003_collision.obj │ │ │ ├── detergent_bottle_poisson_003_visual.obj │ │ │ ├── detergent_bottle_poisson_004.urdf │ │ │ ├── detergent_bottle_poisson_004_collision.obj │ │ │ ├── detergent_bottle_poisson_004_visual.obj │ │ │ ├── detergent_bottle_poisson_006.urdf │ │ │ ├── detergent_bottle_poisson_006_collision.obj │ │ │ ├── detergent_bottle_poisson_006_visual.obj │ │ │ ├── detergent_bottle_poisson_007.urdf │ │ │ ├── detergent_bottle_poisson_007_collision.obj │ │ │ ├── detergent_bottle_poisson_007_visual.obj │ │ │ ├── detergent_collision.obj │ │ │ ├── detergent_visual.obj │ │ │ ├── donut_poisson_002.urdf │ │ │ ├── donut_poisson_002_collision.obj │ │ │ ├── donut_poisson_002_visual.obj │ │ │ ├── donut_poisson_009.urdf │ │ │ ├── donut_poisson_009_collision.obj │ │ │ ├── donut_poisson_009_visual.obj │ │ │ ├── dove_beauty_cream_bar.urdf │ │ │ ├── dove_beauty_cream_bar_collision.obj │ │ │ ├── dove_beauty_cream_bar_visual.obj │ │ │ ├── drill_poisson_000.urdf │ │ │ ├── drill_poisson_000_collision.obj │ │ │ ├── drill_poisson_000_visual.obj │ │ │ ├── dumpbell_poisson_000.urdf │ │ │ ├── dumpbell_poisson_000_collision.obj │ │ │ ├── dumpbell_poisson_000_visual.obj │ │ │ ├── dumpbell_poisson_001.urdf │ │ │ ├── dumpbell_poisson_001_collision.obj │ │ │ ├── dumpbell_poisson_001_visual.obj │ │ │ ├── e94e46bc5833f2f5e57b873e4f3ef3a4.urdf │ │ │ ├── e94e46bc5833f2f5e57b873e4f3ef3a4_collision.obj │ │ │ ├── e94e46bc5833f2f5e57b873e4f3ef3a4_visual.obj │ │ │ ├── eating_right_for_healthy_living_apple.urdf │ │ │ ├── eating_right_for_healthy_living_apple_collision.obj │ │ │ ├── eating_right_for_healthy_living_apple_visual.obj │ │ │ ├── egg_poisson_000.urdf │ │ │ ├── egg_poisson_000_collision.obj │ │ │ ├── egg_poisson_000_visual.obj │ │ │ ├── egg_poisson_003.urdf │ │ │ ├── egg_poisson_003_collision.obj │ │ │ ├── egg_poisson_003_visual.obj │ │ │ ├── egg_poisson_004.urdf │ │ │ ├── egg_poisson_004_collision.obj │ │ │ ├── egg_poisson_004_visual.obj │ │ │ ├── egg_poisson_005.urdf │ │ │ ├── egg_poisson_005_collision.obj │ │ │ ├── egg_poisson_005_visual.obj │ │ │ ├── expo_marker_red.urdf │ │ │ ├── expo_marker_red_collision.obj │ │ │ ├── expo_marker_red_visual.obj │ │ │ ├── extra_large_clamp.urdf │ │ │ ├── extra_large_clamp_collision.obj │ │ │ ├── extra_large_clamp_visual.obj │ │ │ ├── f44301a26ca7f57c70d5704d62bc4186.urdf │ │ │ ├── f44301a26ca7f57c70d5704d62bc4186_collision.obj │ │ │ ├── f44301a26ca7f57c70d5704d62bc4186_visual.obj │ │ │ ├── figurine_poisson_004.urdf │ │ │ ├── figurine_poisson_004_collision.obj │ │ │ ├── figurine_poisson_004_visual.obj │ │ │ ├── figurine_poisson_005.urdf │ │ │ ├── figurine_poisson_005_collision.obj │ │ │ ├── figurine_poisson_005_visual.obj │ │ │ ├── flashlight_poisson_000.urdf │ │ │ ├── flashlight_poisson_000_collision.obj │ │ │ ├── flashlight_poisson_000_visual.obj │ │ │ ├── flashlight_poisson_005.urdf │ │ │ ├── flashlight_poisson_005_collision.obj │ │ │ ├── flashlight_poisson_005_visual.obj │ │ │ ├── flashlight_poisson_006.urdf │ │ │ ├── flashlight_poisson_006_collision.obj │ │ │ ├── flashlight_poisson_006_visual.obj │ │ │ ├── flashlight_poisson_007.urdf │ │ │ ├── flashlight_poisson_007_collision.obj │ │ │ ├── flashlight_poisson_007_visual.obj │ │ │ ├── fruit_by_the_foot.urdf │ │ │ ├── fruit_by_the_foot_collision.obj │ │ │ ├── fruit_by_the_foot_visual.obj │ │ │ ├── haagen_dazs_butter_pecan.urdf │ │ │ ├── haagen_dazs_butter_pecan_collision.obj │ │ │ ├── haagen_dazs_butter_pecan_visual.obj │ │ │ ├── haagen_dazs_cookie_dough.urdf │ │ │ ├── haagen_dazs_cookie_dough_collision.obj │ │ │ ├── haagen_dazs_cookie_dough_visual.obj │ │ │ ├── hammer_poisson_004.urdf │ │ │ ├── hammer_poisson_004_collision.obj │ │ │ ├── hammer_poisson_004_visual.obj │ │ │ ├── hammer_poisson_011.urdf │ │ │ ├── hammer_poisson_011_collision.obj │ │ │ ├── hammer_poisson_011_visual.obj │ │ │ ├── hersheys_cocoa.urdf │ │ │ ├── hersheys_cocoa_collision.obj │ │ │ ├── hersheys_cocoa_visual.obj │ │ │ ├── honey_bunches_of_oats_honey_roasted.urdf │ │ │ ├── honey_bunches_of_oats_honey_roasted_collision.obj │ │ │ ├── honey_bunches_of_oats_honey_roasted_visual.obj │ │ │ ├── hunts_paste.urdf │ │ │ ├── hunts_paste_collision.obj │ │ │ ├── hunts_paste_visual.obj │ │ │ ├── ikea_table_leg_blue.urdf │ │ │ ├── ikea_table_leg_blue_collision.obj │ │ │ ├── ikea_table_leg_blue_visual.obj │ │ │ ├── jar_poisson_000.urdf │ │ │ ├── jar_poisson_000_collision.obj │ │ │ ├── jar_poisson_000_visual.obj │ │ │ ├── jar_poisson_001.urdf │ │ │ ├── jar_poisson_001_collision.obj │ │ │ ├── jar_poisson_001_visual.obj │ │ │ ├── jar_poisson_002.urdf │ │ │ ├── jar_poisson_002_collision.obj │ │ │ ├── jar_poisson_002_visual.obj │ │ │ ├── jar_poisson_003.urdf │ │ │ ├── jar_poisson_003_collision.obj │ │ │ ├── jar_poisson_003_visual.obj │ │ │ ├── jar_poisson_005.urdf │ │ │ ├── jar_poisson_005_collision.obj │ │ │ ├── jar_poisson_005_visual.obj │ │ │ ├── jar_poisson_006.urdf │ │ │ ├── jar_poisson_006_collision.obj │ │ │ ├── jar_poisson_006_visual.obj │ │ │ ├── krylon_crystal_clear.urdf │ │ │ ├── krylon_crystal_clear_collision.obj │ │ │ ├── krylon_crystal_clear_visual.obj │ │ │ ├── krylon_short_cuts.urdf │ │ │ ├── krylon_short_cuts_collision.obj │ │ │ ├── krylon_short_cuts_visual.obj │ │ │ ├── ladle_poisson_000.urdf │ │ │ ├── ladle_poisson_000_collision.obj │ │ │ ├── ladle_poisson_000_visual.obj │ │ │ ├── large_clamp.urdf │ │ │ ├── large_clamp_collision.obj │ │ │ ├── large_clamp_visual.obj │ │ │ ├── large_marker.urdf │ │ │ ├── large_marker_collision.obj │ │ │ ├── large_marker_visual.obj │ │ │ ├── lemon.urdf │ │ │ ├── lemon_collision.obj │ │ │ ├── lemon_poisson_001.urdf │ │ │ ├── lemon_poisson_001_collision.obj │ │ │ ├── lemon_poisson_001_visual.obj │ │ │ ├── lemon_visual.obj │ │ │ ├── light_bulb_poisson_000.urdf │ │ │ ├── light_bulb_poisson_000_collision.obj │ │ │ ├── light_bulb_poisson_000_visual.obj │ │ │ ├── light_bulb_poisson_002.urdf │ │ │ ├── light_bulb_poisson_002_collision.obj │ │ │ ├── light_bulb_poisson_002_visual.obj │ │ │ ├── light_bulb_poisson_004.urdf │ │ │ ├── light_bulb_poisson_004_collision.obj │ │ │ ├── light_bulb_poisson_004_visual.obj │ │ │ ├── light_bulb_poisson_006.urdf │ │ │ ├── light_bulb_poisson_006_collision.obj │ │ │ ├── light_bulb_poisson_006_visual.obj │ │ │ ├── light_bulb_poisson_007.urdf │ │ │ ├── light_bulb_poisson_007_collision.obj │ │ │ ├── light_bulb_poisson_007_visual.obj │ │ │ ├── light_bulb_poisson_009.urdf │ │ │ ├── light_bulb_poisson_009_collision.obj │ │ │ ├── light_bulb_poisson_009_visual.obj │ │ │ ├── light_bulb_poisson_010.urdf │ │ │ ├── light_bulb_poisson_010_collision.obj │ │ │ ├── light_bulb_poisson_010_visual.obj │ │ │ ├── light_bulb_poisson_011.urdf │ │ │ ├── light_bulb_poisson_011_collision.obj │ │ │ ├── light_bulb_poisson_011_visual.obj │ │ │ ├── lime_poisson_000.urdf │ │ │ ├── lime_poisson_000_collision.obj │ │ │ ├── lime_poisson_000_visual.obj │ │ │ ├── lime_poisson_001.urdf │ │ │ ├── lime_poisson_001_collision.obj │ │ │ ├── lime_poisson_001_visual.obj │ │ │ ├── mom_to_mom_butternut_squash_pear.urdf │ │ │ ├── mom_to_mom_butternut_squash_pear_collision.obj │ │ │ ├── mom_to_mom_butternut_squash_pear_visual.obj │ │ │ ├── motts_original_assorted_fruit.urdf │ │ │ ├── motts_original_assorted_fruit_collision.obj │ │ │ ├── motts_original_assorted_fruit_visual.obj │ │ │ ├── mug.urdf │ │ │ ├── mug_collision.obj │ │ │ ├── mug_visual.obj │ │ │ ├── mushroom_poisson_002.urdf │ │ │ ├── mushroom_poisson_002_collision.obj │ │ │ ├── mushroom_poisson_002_visual.obj │ │ │ ├── mushroom_poisson_003.urdf │ │ │ ├── mushroom_poisson_003_collision.obj │ │ │ ├── mushroom_poisson_003_visual.obj │ │ │ ├── mushroom_poisson_004.urdf │ │ │ ├── mushroom_poisson_004_collision.obj │ │ │ ├── mushroom_poisson_004_visual.obj │ │ │ ├── mustard_bottle.urdf │ │ │ ├── mustard_bottle_collision.obj │ │ │ ├── mustard_bottle_visual.obj │ │ │ ├── nice_honey_roasted_almonds.urdf │ │ │ ├── nice_honey_roasted_almonds_collision.obj │ │ │ ├── nice_honey_roasted_almonds_visual.obj │ │ │ ├── nutrigrain_apple_cinnamon.urdf │ │ │ ├── nutrigrain_apple_cinnamon_collision.obj │ │ │ ├── nutrigrain_apple_cinnamon_visual.obj │ │ │ ├── orange.urdf │ │ │ ├── orange_collision.obj │ │ │ ├── orange_visual.obj │ │ │ ├── padlock.urdf │ │ │ ├── padlock_collision.obj │ │ │ ├── padlock_visual.obj │ │ │ ├── pan_poisson_017.urdf │ │ │ ├── pan_poisson_017_collision.obj │ │ │ ├── pan_poisson_017_visual.obj │ │ │ ├── peach.urdf │ │ │ ├── peach_collision.obj │ │ │ ├── peach_visual.obj │ │ │ ├── pear.urdf │ │ │ ├── pear_collision.obj │ │ │ ├── pear_visual.obj │ │ │ ├── pepto_bismol.urdf │ │ │ ├── pepto_bismol_collision.obj │ │ │ ├── pepto_bismol_visual.obj │ │ │ ├── philipps_screwdriver.urdf │ │ │ ├── philipps_screwdriver_collision.obj │ │ │ ├── philipps_screwdriver_visual.obj │ │ │ ├── pitcher_poisson_000.urdf │ │ │ ├── pitcher_poisson_000_collision.obj │ │ │ ├── pitcher_poisson_000_visual.obj │ │ │ ├── pitcher_poisson_001.urdf │ │ │ ├── pitcher_poisson_001_collision.obj │ │ │ ├── pitcher_poisson_001_visual.obj │ │ │ ├── pitcher_poisson_003.urdf │ │ │ ├── pitcher_poisson_003_collision.obj │ │ │ ├── pitcher_poisson_003_visual.obj │ │ │ ├── pitcher_poisson_004.urdf │ │ │ ├── pitcher_poisson_004_collision.obj │ │ │ ├── pitcher_poisson_004_visual.obj │ │ │ ├── pliers_poisson_015.urdf │ │ │ ├── pliers_poisson_015_collision.obj │ │ │ ├── pliers_poisson_015_visual.obj │ │ │ ├── pliers_poisson_017.urdf │ │ │ ├── pliers_poisson_017_collision.obj │ │ │ ├── pliers_poisson_017_visual.obj │ │ │ ├── plum.urdf │ │ │ ├── plum_collision.obj │ │ │ ├── plum_visual.obj │ │ │ ├── pop_secret_light_butter.urdf │ │ │ ├── pop_secret_light_butter_collision.obj │ │ │ ├── pop_secret_light_butter_visual.obj │ │ │ ├── pop_tarts_strawberry.urdf │ │ │ ├── pop_tarts_strawberry_collision.obj │ │ │ ├── pop_tarts_strawberry_visual.obj │ │ │ ├── potted_meat_can.urdf │ │ │ ├── potted_meat_can_collision.obj │ │ │ ├── potted_meat_can_visual.obj │ │ │ ├── power_drill.urdf │ │ │ ├── power_drill_collision.obj │ │ │ ├── power_drill_visual.obj │ │ │ ├── pringles_bbq.urdf │ │ │ ├── pringles_bbq_collision.obj │ │ │ ├── pringles_bbq_visual.obj │ │ │ ├── progresso_new_england_clam_chowder.urdf │ │ │ ├── progresso_new_england_clam_chowder_collision.obj │ │ │ ├── progresso_new_england_clam_chowder_visual.obj │ │ │ ├── pumpkin_poisson_000.urdf │ │ │ ├── pumpkin_poisson_000_collision.obj │ │ │ ├── pumpkin_poisson_000_visual.obj │ │ │ ├── red_bull.urdf │ │ │ ├── red_bull_collision.obj │ │ │ ├── red_bull_visual.obj │ │ │ ├── red_cup.urdf │ │ │ ├── red_cup_collision.obj │ │ │ ├── red_cup_visual.obj │ │ │ ├── rubber_duck_poisson_000.urdf │ │ │ ├── rubber_duck_poisson_000_collision.obj │ │ │ ├── rubber_duck_poisson_000_visual.obj │ │ │ ├── rubber_duck_poisson_001.urdf │ │ │ ├── rubber_duck_poisson_001_collision.obj │ │ │ ├── rubber_duck_poisson_001_visual.obj │ │ │ ├── rubber_duck_poisson_002.urdf │ │ │ ├── rubber_duck_poisson_002_collision.obj │ │ │ ├── rubber_duck_poisson_002_visual.obj │ │ │ ├── saucepan_poisson_000.urdf │ │ │ ├── saucepan_poisson_000_collision.obj │ │ │ ├── saucepan_poisson_000_visual.obj │ │ │ ├── scissors.urdf │ │ │ ├── scissors_collision.obj │ │ │ ├── scissors_visual.obj │ │ │ ├── screwdriver_poisson_002.urdf │ │ │ ├── screwdriver_poisson_002_collision.obj │ │ │ ├── screwdriver_poisson_002_visual.obj │ │ │ ├── screwdriver_poisson_006.urdf │ │ │ ├── screwdriver_poisson_006_collision.obj │ │ │ ├── screwdriver_poisson_006_visual.obj │ │ │ ├── screwdriver_poisson_011.urdf │ │ │ ├── screwdriver_poisson_011_collision.obj │ │ │ ├── screwdriver_poisson_011_visual.obj │ │ │ ├── shampoo_new_poisson_000.urdf │ │ │ ├── shampoo_new_poisson_000_collision.obj │ │ │ ├── shampoo_new_poisson_000_visual.obj │ │ │ ├── shampoo_new_poisson_001.urdf │ │ │ ├── shampoo_new_poisson_001_collision.obj │ │ │ ├── shampoo_new_poisson_001_visual.obj │ │ │ ├── shampoo_new_poisson_002.urdf │ │ │ ├── shampoo_new_poisson_002_collision.obj │ │ │ ├── shampoo_new_poisson_002_visual.obj │ │ │ ├── shampoo_poisson_001.urdf │ │ │ ├── shampoo_poisson_001_collision.obj │ │ │ ├── shampoo_poisson_001_visual.obj │ │ │ ├── softsoap_gold.urdf │ │ │ ├── softsoap_gold_collision.obj │ │ │ ├── softsoap_gold_visual.obj │ │ │ ├── spam.urdf │ │ │ ├── spam_collision.obj │ │ │ ├── spam_visual.obj │ │ │ ├── sponge.urdf │ │ │ ├── sponge_collision.obj │ │ │ ├── sponge_visual.obj │ │ │ ├── spongebob_squarepants_fruit_snaks.urdf │ │ │ ├── spongebob_squarepants_fruit_snaks_collision.obj │ │ │ ├── spongebob_squarepants_fruit_snaks_visual.obj │ │ │ ├── spray_bottle_poisson_000.urdf │ │ │ ├── spray_bottle_poisson_000_collision.obj │ │ │ ├── spray_bottle_poisson_000_visual.obj │ │ │ ├── spray_bottle_poisson_003.urdf │ │ │ ├── spray_bottle_poisson_003_collision.obj │ │ │ ├── spray_bottle_poisson_003_visual.obj │ │ │ ├── spray_can_poisson_000.urdf │ │ │ ├── spray_can_poisson_000_collision.obj │ │ │ ├── spray_can_poisson_000_visual.obj │ │ │ ├── stapler_poisson_002.urdf │ │ │ ├── stapler_poisson_002_collision.obj │ │ │ ├── stapler_poisson_002_visual.obj │ │ │ ├── stapler_poisson_007.urdf │ │ │ ├── stapler_poisson_007_collision.obj │ │ │ ├── stapler_poisson_007_visual.obj │ │ │ ├── stapler_poisson_010.urdf │ │ │ ├── stapler_poisson_010_collision.obj │ │ │ ├── stapler_poisson_010_visual.obj │ │ │ ├── starfruit_poisson_000.urdf │ │ │ ├── starfruit_poisson_000_collision.obj │ │ │ ├── starfruit_poisson_000_visual.obj │ │ │ ├── starfruit_poisson_002.urdf │ │ │ ├── starfruit_poisson_002_collision.obj │ │ │ ├── starfruit_poisson_002_visual.obj │ │ │ ├── strawberry.urdf │ │ │ ├── strawberry_collision.obj │ │ │ ├── strawberry_visual.obj │ │ │ ├── suave_sweet_guava_nectar_body_wash.urdf │ │ │ ├── suave_sweet_guava_nectar_body_wash_collision.obj │ │ │ ├── suave_sweet_guava_nectar_body_wash_visual.obj │ │ │ ├── sugar_box.urdf │ │ │ ├── sugar_box_collision.obj │ │ │ ├── sugar_box_visual.obj │ │ │ ├── sunkist_fruit_snacks_mixed_fruit.urdf │ │ │ ├── sunkist_fruit_snacks_mixed_fruit_collision.obj │ │ │ ├── sunkist_fruit_snacks_mixed_fruit_visual.obj │ │ │ ├── tape_poisson_000.urdf │ │ │ ├── tape_poisson_000_collision.obj │ │ │ ├── tape_poisson_000_visual.obj │ │ │ ├── tape_poisson_002.urdf │ │ │ ├── tape_poisson_002_collision.obj │ │ │ ├── tape_poisson_002_visual.obj │ │ │ ├── tape_poisson_004.urdf │ │ │ ├── tape_poisson_004_collision.obj │ │ │ ├── tape_poisson_004_visual.obj │ │ │ ├── tape_poisson_005.urdf │ │ │ ├── tape_poisson_005_collision.obj │ │ │ ├── tape_poisson_005_visual.obj │ │ │ ├── tetra_pak_poisson_000.urdf │ │ │ ├── tetra_pak_poisson_000_collision.obj │ │ │ ├── tetra_pak_poisson_000_visual.obj │ │ │ ├── tetra_pak_poisson_001.urdf │ │ │ ├── tetra_pak_poisson_001_collision.obj │ │ │ ├── tetra_pak_poisson_001_visual.obj │ │ │ ├── tetra_pak_poisson_002.urdf │ │ │ ├── tetra_pak_poisson_002_collision.obj │ │ │ ├── tetra_pak_poisson_002_visual.obj │ │ │ ├── toilet_paper_poisson_000.urdf │ │ │ ├── toilet_paper_poisson_000_collision.obj │ │ │ ├── toilet_paper_poisson_000_visual.obj │ │ │ ├── toilet_paper_poisson_001.urdf │ │ │ ├── toilet_paper_poisson_001_collision.obj │ │ │ ├── toilet_paper_poisson_001_visual.obj │ │ │ ├── toilet_paper_poisson_002.urdf │ │ │ ├── toilet_paper_poisson_002_collision.obj │ │ │ ├── toilet_paper_poisson_002_visual.obj │ │ │ ├── toilet_paper_poisson_003.urdf │ │ │ ├── toilet_paper_poisson_003_collision.obj │ │ │ ├── toilet_paper_poisson_003_visual.obj │ │ │ ├── tomato_soup_can.urdf │ │ │ ├── tomato_soup_can_collision.obj │ │ │ ├── tomato_soup_can_visual.obj │ │ │ ├── toothpaste_tube_poisson_002.urdf │ │ │ ├── toothpaste_tube_poisson_002_collision.obj │ │ │ ├── toothpaste_tube_poisson_002_visual.obj │ │ │ ├── toy_poisson_001.urdf │ │ │ ├── toy_poisson_001_collision.obj │ │ │ ├── toy_poisson_001_visual.obj │ │ │ ├── toy_poisson_003.urdf │ │ │ ├── toy_poisson_003_collision.obj │ │ │ ├── toy_poisson_003_visual.obj │ │ │ ├── toy_poisson_004.urdf │ │ │ ├── toy_poisson_004_collision.obj │ │ │ ├── toy_poisson_004_visual.obj │ │ │ ├── toy_poisson_008.urdf │ │ │ ├── toy_poisson_008_collision.obj │ │ │ ├── toy_poisson_008_visual.obj │ │ │ ├── toy_poisson_011.urdf │ │ │ ├── toy_poisson_011_collision.obj │ │ │ ├── toy_poisson_011_visual.obj │ │ │ ├── toy_poisson_016.urdf │ │ │ ├── toy_poisson_016_collision.obj │ │ │ ├── toy_poisson_016_visual.obj │ │ │ ├── toy_poisson_022.urdf │ │ │ ├── toy_poisson_022_collision.obj │ │ │ ├── toy_poisson_022_visual.obj │ │ │ ├── toy_poisson_025.urdf │ │ │ ├── toy_poisson_025_collision.obj │ │ │ ├── toy_poisson_025_visual.obj │ │ │ ├── tuna_fish_can.urdf │ │ │ ├── tuna_fish_can_collision.obj │ │ │ ├── tuna_fish_can_visual.obj │ │ │ ├── v8_fusion_peach_mango.urdf │ │ │ ├── v8_fusion_peach_mango_collision.obj │ │ │ ├── v8_fusion_peach_mango_visual.obj │ │ │ ├── vase_poisson_004.urdf │ │ │ ├── vase_poisson_004_collision.obj │ │ │ ├── vase_poisson_004_visual.obj │ │ │ ├── vo5_extra_body_volumizing_shampoo.urdf │ │ │ ├── vo5_extra_body_volumizing_shampoo_collision.obj │ │ │ ├── vo5_extra_body_volumizing_shampoo_visual.obj │ │ │ ├── watering_can_poisson_001.urdf │ │ │ ├── watering_can_poisson_001_collision.obj │ │ │ ├── watering_can_poisson_001_visual.obj │ │ │ ├── white_rain_sensations_apple_blossom_hydrating_body_wash.urdf │ │ │ ├── white_rain_sensations_apple_blossom_hydrating_body_wash_collision.obj │ │ │ ├── white_rain_sensations_apple_blossom_hydrating_body_wash_visual.obj │ │ │ ├── wrench_poisson_005.urdf │ │ │ ├── wrench_poisson_005_collision.obj │ │ │ ├── wrench_poisson_005_visual.obj │ │ │ ├── wrench_poisson_013.urdf │ │ │ ├── wrench_poisson_013_collision.obj │ │ │ └── wrench_poisson_013_visual.obj │ │ └── setup │ │ ├── box.obj │ │ ├── box.urdf │ │ ├── plane.obj │ │ └── plane.urdf ├── scripts │ ├── convonet_setup.py │ ├── data_gen │ │ ├── assign_grasp_affordance.py │ │ ├── clean_balance_data.py │ │ ├── construct_dataset_parallel.py │ │ ├── generate_data_gpg_parallel.py │ │ ├── generate_data_grasp_surface_clouds.py │ │ ├── generate_data_grasp_surface_clouds_affordance.py │ │ ├── generate_data_parallel.py │ │ ├── launch_slurm_data_gen.py │ │ ├── randomize_scene_views.py │ │ └── save_occ_data_parallel.py │ ├── test │ │ ├── eval_geometry_voxel.py │ │ └── sim_grasp_multiple.py │ └── train │ │ ├── launch_slurm_evals.py │ │ ├── launch_slurm_training.py │ │ └── train_neu_grasp.py └── src │ ├── dataset │ ├── dataset_voxel_grasp_pc.py │ └── io.py │ ├── experiments │ ├── __init__.py │ ├── clutter_removal.py │ ├── detection_implicit.py │ ├── grasp_renderer.py │ ├── grasp_sampler.py │ └── scene_renderer.py │ ├── network │ ├── __init__.py │ ├── checkpoints.py │ ├── common.py │ ├── config.py │ ├── conv_onet │ │ ├── __init__.py │ │ ├── config.py │ │ ├── generation.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── decoder.py │ │ │ ├── dgcnn_cls.py │ │ │ ├── pointnet_cls.py │ │ │ └── utils │ │ │ │ ├── dgcnn_util.py │ │ │ │ └── layers_equi.py │ │ └── training.py │ ├── data │ │ └── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── core.cpython-38.pyc │ │ │ ├── fields.cpython-38.pyc │ │ │ └── transforms.cpython-38.pyc │ ├── encoder │ │ ├── __init__.py │ │ ├── local_dgcnn.py │ │ ├── local_pointnet.py │ │ ├── local_vn_dgcnn.py │ │ ├── local_vn_pointnet.py │ │ ├── pointnetpp.py │ │ ├── unet.py │ │ ├── unet3d.py │ │ └── voxels.py │ ├── eval.py │ ├── layers.py │ ├── networks.py │ ├── training.py │ └── utils │ │ ├── __init__.py │ │ ├── binvox_rw.py │ │ ├── icp.py │ │ ├── io.py │ │ ├── libkdtree │ │ ├── .gitignore │ │ ├── MANIFEST.in │ │ ├── README │ │ ├── README.rst │ │ ├── __init__.py │ │ ├── pykdtree │ │ │ ├── __init__.py │ │ │ ├── _kdtree_core.c │ │ │ ├── _kdtree_core.c.mako │ │ │ ├── kdtree.c │ │ │ ├── kdtree.pyx │ │ │ ├── render_template.py │ │ │ └── test_tree.py │ │ └── setup.cfg │ │ ├── libmcubes │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README.rst │ │ ├── __init__.py │ │ ├── exporter.py │ │ ├── marchingcubes.cpp │ │ ├── marchingcubes.h │ │ ├── mcubes.cpp │ │ ├── mcubes.cpython-38-x86_64-linux-gnu.so │ │ ├── mcubes.pyx │ │ ├── pyarray_symbol.h │ │ ├── pyarraymodule.h │ │ ├── pywrapper.cpp │ │ └── pywrapper.h │ │ ├── libmesh │ │ ├── .gitignore │ │ ├── __init__.py │ │ ├── inside_mesh.py │ │ ├── triangle_hash.cpython-38-x86_64-linux-gnu.so │ │ └── triangle_hash.pyx │ │ ├── libmise │ │ ├── .gitignore │ │ ├── __init__.py │ │ ├── mise.cpython-38-x86_64-linux-gnu.so │ │ ├── mise.pyx │ │ └── test.py │ │ ├── libsimplify │ │ ├── Simplify.h │ │ ├── __init__.py │ │ ├── simplify_mesh.cpp │ │ ├── simplify_mesh.cpython-38-x86_64-linux-gnu.so │ │ ├── simplify_mesh.pyx │ │ └── test.py │ │ ├── libvoxelize │ │ ├── .gitignore │ │ ├── __init__.py │ │ ├── tribox2.h │ │ ├── voxelize.cpython-38-x86_64-linux-gnu.so │ │ └── voxelize.pyx │ │ ├── mesh.py │ │ ├── visualize.py │ │ └── voxels.py │ ├── simulation │ ├── __init__.py │ ├── btsim.py │ └── simulation.py │ └── utils │ ├── grasp.py │ ├── implicit.py │ ├── misc.py │ ├── nvisii_render.py │ ├── perception.py │ ├── saver.py │ ├── transform.py │ └── visual.py ├── neugraspnet_ros ├── .gitignore ├── CMakeLists.txt ├── README.md ├── camera_and_map_configs │ ├── common.yaml │ ├── sensor_manager.launch.xml │ ├── sensors_3d.yaml │ └── zed2.yaml ├── docker │ └── Dockerfile ├── grasp_cloud_setup_efficient.json ├── launch │ ├── launch_moveit_with_zed2_octomap.launch │ ├── launch_tiago159.launch │ ├── launch_tiago159_with_zed2.launch │ ├── tiago159_with_zed2_upload.launch │ └── tiago_dual_gazebo_with_zed2.launch ├── 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