├── .gitignore ├── CPDeform ├── __init__.py ├── loss.py ├── manipulator_sampler │ ├── __init__.py │ ├── base.py │ ├── double_manipulator.py │ └── single_manipulator.py ├── solve_env.py ├── solver │ ├── __init__.py │ ├── grad_solver │ │ ├── __init__.py │ │ ├── th_solver.py │ │ └── ti_solver.py │ └── iter_deform.py ├── training_initializers │ ├── __init__.py │ ├── reshape │ │ ├── __init__.py │ │ ├── clamp_double_primitive.py │ │ └── collide_single_primitive.py │ └── transport │ │ ├── __init__.py │ │ └── clamp_double_primitive.py └── utils │ ├── __init__.py │ ├── base_logger.py │ ├── camera_utils.py │ ├── metric_logger.py │ ├── training_utils.py │ └── visualize.py ├── README.md ├── demo └── writer_demo.gif ├── plb ├── __init__.py ├── config │ ├── __init__.py │ ├── default_config.py │ └── utils.py ├── engine │ ├── __init__.py │ ├── grad_model.py │ ├── losses │ │ ├── __init__.py │ │ └── loss.py │ ├── mpm_simulator.py │ ├── nn │ │ ├── __init__.py │ │ └── mlp.py │ ├── primitive │ │ ├── __init__.py │ │ ├── demo.py │ │ ├── primitives.py │ │ ├── primive_base.py │ │ ├── test_primitives.py │ │ └── utils.py │ ├── renderer │ │ ├── __init__.py │ │ ├── renderer.py │ │ ├── renderer_tester.py │ │ ├── renderer_utils.py │ │ └── test.py │ ├── shapes │ │ ├── __init__.py │ │ └── shape_maker.py │ └── taichi_env.py ├── envs │ ├── __init__.py │ ├── assets │ │ ├── Assembly3D-v1.npy │ │ ├── Assembly3D-v2.npy │ │ ├── Assembly3D-v3.npy │ │ ├── Assembly3D-v4.npy │ │ ├── Assembly3D-v5.npy │ │ ├── Chopsticks3D-v1.npy │ │ ├── Chopsticks3D-v2.npy │ │ ├── Chopsticks3D-v3.npy │ │ ├── Chopsticks3D-v4.npy │ │ ├── Chopsticks3D-v5.npy │ │ ├── Move3D-v1.npy │ │ ├── Move3D-v2.npy │ │ ├── Move3D-v3.npy │ │ ├── Move3D-v4.npy │ │ ├── Move3D-v5.npy │ │ ├── Pinch3D-v1.npy │ │ ├── Pinch3D-v2.npy │ │ ├── Pinch3D-v3.npy │ │ ├── Pinch3D-v4.npy │ │ ├── Pinch3D-v5.npy │ │ ├── Rollingpin3D-v1.npy │ │ ├── Rollingpin3D-v2.npy │ │ ├── Rollingpin3D-v3.npy │ │ ├── Rollingpin3D-v4.npy │ │ ├── Rollingpin3D-v5.npy │ │ ├── Rope3D-v1.npy │ │ ├── Rope3D-v2.npy │ │ ├── Rope3D-v3.npy │ │ ├── Rope3D-v4.npy │ │ ├── Rope3D-v5.npy │ │ ├── Table3D-v1.npy │ │ ├── Table3D-v2.npy │ │ ├── Table3D-v3.npy │ │ ├── Table3D-v4.npy │ │ ├── Table3D-v5.npy │ │ ├── Torus3D-v1.npy │ │ ├── Torus3D-v2.npy │ │ ├── Torus3D-v3.npy │ │ ├── Torus3D-v4.npy │ │ ├── Torus3D-v5.npy │ │ ├── TripleMove3D-v1.npy │ │ ├── TripleMove3D-v2.npy │ │ ├── TripleMove3D-v3.npy │ │ ├── TripleMove3D-v4.npy │ │ ├── TripleMove3D-v5.npy │ │ ├── Writer3D-v1.npy │ │ ├── Writer3D-v2.npy │ │ ├── Writer3D-v3.npy │ │ ├── Writer3D-v4.npy │ │ ├── Writer3D-v5.npy │ │ ├── multistage_move-v1.npy │ │ ├── multistage_rope-v1.npy │ │ ├── multistage_writer-v1.npy │ │ ├── zero3D-v1.npy │ │ ├── zero3D-v2.npy │ │ ├── zero3D-v3.npy │ │ ├── zero3D-v4.npy │ │ └── zero3D-v5.npy │ ├── env.py │ ├── env_configs │ │ ├── assembly.yml │ │ ├── chopsticks.yml │ │ ├── move.yml │ │ ├── multistage_airplane.yml │ │ ├── multistage_bottle.yml │ │ ├── multistage_chair.yml │ │ ├── multistage_move.yml │ │ ├── multistage_pinch.yml │ │ ├── multistage_rope.yml │ │ ├── multistage_star.yml │ │ ├── multistage_writer.yml │ │ ├── pinch.yml │ │ ├── rollingpin.yml │ │ ├── rope.yml │ │ ├── table.yml │ │ ├── torus.yml │ │ ├── triplemove.yml │ │ └── writer.yml │ └── utils.py ├── optimizer │ ├── __init__.py │ ├── optim.py │ ├── solver.py │ └── solver_nn.py └── utils │ ├── __init__.py │ └── timer.py ├── scripts ├── launch_training.py └── plab-m │ └── remote_training │ ├── baseline │ ├── train_multistage_airplane.txt │ ├── train_multistage_bottle.txt │ ├── train_multistage_chair.txt │ ├── train_multistage_move.txt │ ├── train_multistage_rope.txt │ ├── train_multistage_star.txt │ └── train_multistage_writer.txt │ └── cpdeform │ ├── train_multistage_airplane.txt │ ├── train_multistage_bottle.txt │ ├── train_multistage_chair.txt │ ├── train_multistage_move.txt │ ├── train_multistage_rope.txt │ ├── train_multistage_star.txt │ └── train_multistage_writer.txt └── setup.py /.gitignore: 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