├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── assets └── images │ └── pipeline.jpg ├── cfg └── train.yaml ├── dataset.py ├── dataset_generation ├── dataset.py ├── environments │ ├── __init__.py │ ├── assets │ │ ├── bowl │ │ │ ├── bowl.urdf │ │ │ ├── bowl_scaled.urdf │ │ │ ├── cup.obj │ │ │ └── textured-0008192.obj │ │ ├── box │ │ │ ├── box-template.urdf │ │ │ ├── cylinder-template.urdf │ │ │ └── ring-template.urdf │ │ ├── container │ │ │ ├── container-template.urdf │ │ │ └── light-container-template.urdf │ │ ├── hanoi │ │ │ ├── block.urdf │ │ │ ├── disk0.obj │ │ │ ├── disk0.urdf │ │ │ ├── disk1.obj │ │ │ ├── disk1.urdf │ │ │ ├── disk2.obj │ │ │ ├── disk2.urdf │ │ │ ├── disk3.obj │ │ │ ├── disk3.urdf │ │ │ ├── disk3_scaled.obj │ │ │ ├── disk3_scaled.urdf │ │ │ ├── slimdisk.urdf │ │ │ └── stand.urdf │ │ ├── pallet │ │ │ ├── pallet.obj │ │ │ └── pallet.urdf │ │ ├── plane │ │ │ ├── plane.mtl │ │ │ ├── plane.urdf │ │ │ └── plane100.obj │ │ ├── rectangle │ │ │ ├── rectangle-template-sides-1.urdf │ │ │ ├── rectangle-template-sides-2.urdf │ │ │ ├── rectangle-template-sides-3.urdf │ │ │ └── rectangle-template-sides-4.urdf │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ ├── gripper │ │ │ ├── README.md │ │ │ ├── robotiq-2f-base.mtl │ │ │ ├── robotiq-2f-base.obj │ │ │ ├── robotiq-2f-base.stl │ │ │ ├── robotiq-2f-coupler.mtl │ │ │ ├── robotiq-2f-coupler.obj │ │ │ ├── robotiq-2f-coupler.stl │ │ │ ├── robotiq-2f-driver.mtl │ │ │ ├── robotiq-2f-driver.obj │ │ │ ├── robotiq-2f-driver.stl │ │ │ ├── robotiq-2f-follower.mtl │ │ │ ├── robotiq-2f-follower.obj │ │ │ ├── robotiq-2f-follower.stl │ │ │ ├── robotiq-2f-pad.stl │ │ │ ├── robotiq-2f-spring_link.mtl │ │ │ ├── robotiq-2f-spring_link.obj │ │ │ ├── robotiq-2f-spring_link.stl │ │ │ └── robotiq_2f_85.urdf │ │ │ ├── license.txt │ │ │ ├── plane.obj │ │ │ ├── spatula │ │ │ ├── base.obj │ │ │ └── spatula-base.urdf │ │ │ ├── suction │ │ │ ├── base.obj │ │ │ ├── head.obj │ │ │ ├── mid.obj │ │ │ ├── suction-base.urdf │ │ │ ├── suction-head.urdf │ │ │ └── tip.obj │ │ │ ├── ur5.urdf │ │ │ ├── visual │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ ├── workspace.urdf │ │ │ └── workspace_temp.urdf │ └── environment.py ├── tasks │ ├── __init__.py │ ├── compositional_relations.py │ ├── grippers.py │ ├── lingo_space_composite.py │ ├── packing_google_objects.py │ ├── packing_shapes.py │ ├── primitives.py │ ├── spatial_relations.py │ └── task.py └── utils │ ├── cameras.py │ ├── general_utils.py │ ├── global_vars.py │ └── pybullet_utils.py ├── estimator ├── embedding.py ├── head.py ├── layer.py ├── loss.py ├── model.py └── utils.py ├── requirements.txt ├── scripts ├── download_dataset.sh ├── test_close.sh ├── test_composite.sh ├── test_far.sh ├── train_close.sh 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