├── README.md ├── code ├── README.md ├── blender_utils │ ├── camera.blend │ ├── cube.obj │ ├── geometry_utils.py │ ├── quaternion.py │ ├── render_blender.py │ └── render_using_blender.py ├── camera.py ├── collect_data_pull.py ├── collect_data_push.py ├── colors.py ├── data.py ├── env.py ├── iter_train.py ├── models │ ├── model_3d_w2a.py │ ├── model_AAP.py │ ├── model_AAP_affordance.py │ ├── model_AIP.py │ └── model_AIP_affordance.py ├── pyquaternion │ ├── .gitignore │ ├── README.md │ ├── __init__.py │ └── quaternion.py ├── robots │ ├── .DS_Store │ ├── franka_description │ │ └── meshes │ │ │ ├── collision │ │ │ ├── finger.stl │ │ │ ├── finger.stl.convex.stl │ │ │ ├── hand.stl │ │ │ ├── hand.stl.convex.stl │ │ │ ├── link0.stl │ │ │ ├── link0.stl.convex.stl │ │ │ ├── link1.stl │ │ │ ├── link1.stl.convex.stl │ │ │ ├── link2.stl │ │ │ ├── link2.stl.convex.stl │ │ │ ├── link3.stl │ │ │ ├── link3.stl.convex.stl │ │ │ ├── link4.stl │ │ │ ├── link4.stl.convex.stl │ │ │ ├── link5.stl │ │ │ ├── link5.stl.convex.stl │ │ │ ├── link6.stl │ │ │ ├── link6.stl.convex.stl │ │ │ ├── link7.stl │ │ │ └── link7.stl.convex.stl │ │ │ └── visual │ │ │ ├── finger.dae │ │ │ ├── hand.dae │ │ │ ├── link0.dae │ │ │ ├── link1.dae │ │ │ ├── link2.dae │ │ │ ├── link3.dae │ │ │ ├── link4.dae │ │ │ ├── link5.dae │ │ │ ├── link6.dae │ │ │ └── link7.dae │ ├── panda.urdf │ ├── panda_gripper.urdf │ └── panda_robot.py ├── sample_succ.py ├── scripts │ ├── run_collect_pull.sh │ ├── run_collect_push.sh │ ├── run_eval.sh │ ├── run_train_AAP.sh │ ├── run_train_AAP_aff.sh │ ├── run_train_AIP.sh │ ├── run_train_AIP_aff.sh │ └── run_train_iter.sh ├── train_AAP.py ├── train_AAP_aff.py ├── train_AIP.py ├── train_AIP_aff.py └── utils.py ├── data ├── .gitignore └── README.md ├── images ├── adagif.gif └── adagif2.gif ├── logs └── README.md ├── stats ├── Confusion_ID.txt ├── Confusion_test_ID.txt ├── all_15cats.txt ├── ins_cnt_15cats.txt ├── ins_cnt_5cats.txt ├── ins_cnt_single_cabinet.txt ├── 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