├── .gitignore ├── LICENSE ├── README.md ├── bash ├── run_eval_shape.sh ├── run_evals.sh └── sync_ckpt.sh ├── centergrasp ├── __init__.py ├── cameras.py ├── configs.py ├── data_utils.py ├── franka_gripper.py ├── giga_utils.py ├── graspnet │ ├── evaluate.py │ ├── evaluation_runs.py │ ├── fix_broken_eval.py │ ├── make_heatmaps.py │ ├── rgb_data.py │ ├── sgdf_data.py │ ├── sgdf_dataset.py │ ├── sgdf_inference.py │ └── visualize.py ├── lr_schedules.py ├── mesh_utils.py ├── o3d_live_vis.py ├── pipelines │ ├── centergrasp_pipeline.py │ ├── contactgraspnet_pipeline.py │ ├── giga_pipeline.py │ └── planners.py ├── rgb │ ├── centergrasp_net.py │ ├── data_structures.py │ ├── heatmaps.py │ ├── pose_utils.py │ ├── pred_postprocessing.py │ ├── rgb_data.py │ ├── rgb_inference.py │ └── training_centergrasp.py ├── sapien │ ├── behaviors.py │ ├── franka_gripper_fcl.py │ ├── robots.py │ ├── sapien_envs.py │ ├── sapien_utils.py │ ├── scenes.py │ └── stick_gripper_fcl.py ├── se3_utils.py ├── sgdf │ ├── data_structures.py │ ├── deep_sdf_decoder.py │ ├── grid.py │ ├── mesh_grasps.py │ ├── sdf.py │ ├── sgdf_data.py │ ├── sgdf_dataset.py │ ├── sgdf_inference.py │ ├── sgdf_utils.py │ └── training_deep_sgdf.py ├── visualization.py └── ycb_utils.py ├── ckpt_rgb └── .gitkeep ├── ckpt_sgdf └── .gitkeep ├── configs ├── rgb_config.txt ├── rgb_train_config_default.json ├── rgb_train_specs.json ├── sgdf_train_config_default.json └── sgdf_train_specs.json ├── sandbox ├── debug_graspnet.py ├── get_gripper_kintree.py ├── get_q_pos.py ├── render_texture.py ├── scan_dataset.py └── scan_grasp_labels.py ├── scripts ├── download_cc_texture.py ├── download_real_imgs.py ├── evaluate.py ├── evaluate_shape.py ├── make_grasp_labels.py ├── make_rgb_dataset.py ├── make_sgdf_dataset.py ├── make_taxonomy.py ├── occluded_grasp_eval.py ├── plot_gif.py ├── plot_rgbd.py ├── plot_shape.py ├── render_eval_imgs.py ├── run_evals_grasp.py ├── run_evals_shape.py ├── train_rgbd.py ├── train_sgdf.py ├── visualize.py └── wandb_data.py ├── setup.py └── simnet ├── .gitignore └── lib ├── camera.py ├── color_stuff.py ├── datapoint.py ├── depth_noise.py ├── net ├── common.py ├── dataset.py ├── functions │ ├── __init__.py │ └── learning_rate.py ├── init │ ├── __init__.py │ └── default_init.py ├── losses.py ├── models │ ├── __init__.py │ ├── auto_encoder.py │ ├── basic_stem.py │ ├── layers │ │ ├── __init__.py │ │ ├── cost_volume.py │ │ ├── hdc_functions.py │ │ ├── matchability.py │ │ ├── residual_blocks.py │ │ ├── soft_argmin.py │ │ └── transition_blocks.py │ ├── panoptic_backbone.py │ ├── panoptic_net.py │ └── specs.json ├── panoptic_trainer.py ├── post_processing │ ├── abs_pose_outputs.py │ ├── box_outputs.py │ ├── depth_outputs.py │ ├── keypoint_outputs.py │ ├── pose_outputs.py │ └── segmentation_outputs.py └── pre_processing │ └── obb_inputs.py └── transform.py /.gitignore: -------------------------------------------------------------------------------- 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