├── .gitignore ├── LICENSE ├── README.md ├── arguments └── __init__.py ├── articulated_object ├── __init__.py ├── articulated_object_renderer.py ├── get_camera_poses.py ├── render.py ├── rotation_conversions.py └── utils.py ├── assets ├── 1.gif ├── 2.gif ├── 3.gif ├── 4.gif ├── intro.gif ├── panda │ ├── franka_panda_robot_only_cat.xml │ └── meshes │ │ ├── Azure_Kinect.ply │ │ ├── bracket.obj │ │ ├── bracket.ply │ │ ├── d435.obj │ │ ├── finger.ply │ │ ├── hand.ply │ │ ├── link0.ply │ │ ├── link1.ply │ │ ├── link2.ply │ │ ├── link3.ply │ │ ├── link4.ply │ │ ├── link5.ply │ │ ├── link6.ply │ │ └── link7.ply ├── vis_1.png ├── vis_2.png └── vis_3.png ├── cameras ├── extrinsics │ ├── image_000.npy │ ├── image_001.npy │ ├── image_002.npy │ ├── image_003.npy │ ├── image_004.npy │ ├── image_005.npy │ ├── image_006.npy │ ├── image_007.npy │ ├── image_008.npy │ ├── image_009.npy │ ├── image_010.npy │ ├── image_011.npy │ ├── image_012.npy │ ├── image_013.npy │ ├── image_014.npy │ ├── image_015.npy │ ├── image_016.npy │ ├── image_017.npy │ ├── image_018.npy │ ├── image_019.npy │ ├── image_020.npy │ ├── image_021.npy │ ├── image_022.npy │ ├── image_023.npy │ ├── image_024.npy │ ├── image_025.npy │ ├── image_026.npy │ ├── image_027.npy │ ├── image_028.npy │ ├── image_029.npy │ ├── image_030.npy │ ├── image_031.npy │ ├── image_032.npy │ ├── image_033.npy │ ├── image_034.npy │ ├── image_035.npy │ ├── image_036.npy │ ├── image_037.npy │ ├── image_038.npy │ ├── image_039.npy │ ├── image_040.npy │ ├── image_041.npy │ ├── image_042.npy │ ├── image_043.npy │ ├── image_044.npy │ ├── image_045.npy │ ├── image_046.npy │ └── image_047.npy └── intrinsic.npy ├── configs ├── gen_data_config.yml ├── object_infos.yml ├── pretrained_infos.yml ├── total │ ├── gen_multi_data_config.yml │ └── gen_single_data_config.yml └── vis_obj_config.yml ├── control.py ├── control ├── __init__.py ├── communicator_server.py ├── control.yml ├── extrinsics │ ├── image_000.npy │ ├── image_001.npy │ ├── image_002.npy │ ├── image_003.npy │ ├── image_004.npy │ ├── image_005.npy │ ├── image_006.npy │ ├── image_007.npy │ ├── image_008.npy │ ├── image_009.npy │ ├── image_010.npy │ ├── image_011.npy │ ├── image_012.npy │ ├── image_013.npy │ ├── image_014.npy │ ├── image_015.npy │ ├── image_016.npy │ ├── image_017.npy │ ├── image_018.npy │ ├── image_019.npy │ ├── image_020.npy │ ├── image_021.npy │ ├── image_022.npy │ ├── image_023.npy │ ├── image_024.npy │ ├── image_025.npy │ ├── image_026.npy │ ├── image_027.npy │ ├── image_028.npy │ ├── image_029.npy │ ├── image_030.npy │ ├── image_031.npy │ ├── image_032.npy │ ├── image_033.npy │ ├── image_034.npy │ ├── image_035.npy │ ├── image_036.npy │ ├── image_037.npy │ ├── image_038.npy │ ├── image_039.npy │ ├── image_040.npy │ ├── image_041.npy │ ├── image_042.npy │ ├── image_043.npy │ ├── image_044.npy │ ├── image_045.npy │ ├── image_046.npy │ └── image_047.npy ├── image_to_joints.py ├── intrinsic.npy ├── text_to_joints.py └── trajectory_planner.py ├── dataset_configuration.txt ├── evaluator.py ├── gaussian_renderer ├── __init__.py └── network_gui.py ├── generate_data.py ├── make_videos.py ├── requirements.txt ├── robot ├── openchains_lib.py ├── openchains_torch.py └── utils.py ├── scene ├── __init__.py ├── cameras.py ├── colmap_loader.py ├── dataset_readers.py └── gaussian_model.py ├── shell └── test_all.sh ├── text_guided_manipulation.py ├── train.py ├── train_gs.py ├── utils ├── camera_utils.py ├── general_utils.py ├── graphics_utils.py ├── image_utils.py ├── loss_utils.py ├── make_depth_scale.py ├── read_write_model.py ├── sh_utils.py ├── suppress_logging.py ├── system_utils.py └── tsdf_fusion.py ├── visualize_object.py └── visualize_screwsplat.py /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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