├── .gitignore ├── README.md ├── constraint_generation.py ├── geometry_parser.py ├── metaworld_experiment ├── configs │ └── config.yaml ├── main_mw.py ├── metaworld2 │ ├── CONTRIBUTING.md │ ├── LICENSE │ ├── MANIFEST.in │ ├── Makefile │ ├── README.md │ ├── build │ │ └── lib │ │ │ ├── metaworld │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ └── __init__.cpython-39.pyc │ │ │ ├── envs │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── asset_path_utils.cpython-310.pyc │ │ │ │ │ ├── asset_path_utils.cpython-39.pyc │ │ │ │ │ ├── reward_utils.cpython-310.pyc │ │ │ │ │ └── reward_utils.cpython-39.pyc │ │ │ │ ├── asset_path_utils.py │ │ │ │ ├── assets_updated │ │ │ │ │ └── sawyer_xyz │ │ │ │ │ │ └── dm_control_pick_place.ipynb │ │ │ │ ├── assets_v1 │ │ │ │ │ └── multiobject_models │ │ │ │ │ │ ├── Bowl │ │ │ │ │ │ └── Bowl.wrl │ │ │ │ │ │ ├── ElephantBowl │ │ │ │ │ │ └── ElephantBowl.wrl │ │ │ │ │ │ ├── Fork │ │ │ │ │ │ └── Fork.wrl │ │ │ │ │ │ ├── GlassBowl │ │ │ │ │ │ └── GlassBowl.wrl │ │ │ │ │ │ ├── Knife │ │ │ │ │ │ └── Knife.wrl │ │ │ │ │ │ ├── LotusBowl01 │ │ │ │ │ │ └── LotusBowl01.wrl │ │ │ │ │ │ ├── RuggedBowl │ │ │ │ │ │ └── RuggedBowl.wrl │ │ │ │ │ │ ├── ServingBowl │ │ │ │ │ │ └── ServingBowl.wrl │ │ │ │ │ │ ├── Spoon │ │ │ │ │ │ └── Spoon.wrl │ │ │ │ │ │ └── generate_touch_sensors.py │ │ │ │ ├── assets_v2 │ │ │ │ │ ├── objects │ │ │ │ │ │ ├── assembly_peg.xml │ │ │ │ │ │ ├── assets │ │ │ │ │ │ │ ├── assembly_peg.xml │ │ │ │ │ │ │ ├── assembly_peg_dependencies.xml │ │ │ │ │ │ │ ├── basketball.xml │ │ │ │ │ │ │ ├── basketball_dependencies.xml │ │ │ │ │ │ │ ├── basketballhoop.xml │ │ │ │ │ │ │ ├── binA.xml │ │ │ │ │ │ │ ├── binB.xml │ │ │ │ │ │ │ ├── bin_dependencies.xml │ │ │ │ │ │ │ ├── block.xml │ │ │ │ │ │ │ ├── block_cyl.xml │ │ │ │ │ │ │ ├── block_dependencies.xml │ │ │ │ │ │ │ ├── box.xml │ │ │ │ │ │ │ ├── box_dependencies.xml │ │ │ │ │ │ │ ├── boxtop.xml │ │ │ │ │ │ │ ├── buttonbox.xml │ │ │ │ │ │ │ ├── buttonbox_dependencies.xml │ │ │ │ │ │ │ ├── club.xml │ │ │ │ │ │ │ ├── club_dependencies.xml │ │ │ │ │ │ │ ├── coffeemachine.xml │ │ │ │ │ │ │ ├── coffeemachine_dependencies.xml │ │ │ │ │ │ │ ├── dial.xml │ │ │ │ │ │ │ ├── dial_dependencies.xml │ │ │ │ │ │ │ ├── doorlockA.xml │ │ │ │ │ │ │ ├── doorlockB.xml │ │ │ │ │ │ │ ├── doorlock_dependencies.xml │ │ │ │ │ │ │ ├── drawer.xml │ │ │ │ │ │ │ ├── drawer_dependencies.xml │ │ │ │ │ │ │ ├── faucet.xml │ │ │ │ │ │ │ ├── faucet_dependencies.xml │ │ │ │ │ │ │ ├── hammer.xml │ │ │ │ │ │ │ ├── hammer_dependencies.xml │ │ │ │ │ │ │ ├── hammerblock.xml │ │ │ │ │ │ │ ├── handle_press.xml │ │ │ │ │ │ │ ├── handle_press_dependencies.xml │ │ │ │ │ │ │ ├── laptop.xml │ │ │ │ │ │ │ ├── laptop_dependencies.xml │ │ │ │ │ │ │ ├── lever.xml │ │ │ │ │ │ │ ├── lever_dependencies.xml │ │ │ │ │ │ │ ├── mug.xml │ │ │ │ │ │ │ ├── objA.xml │ │ │ │ │ │ │ ├── peg_block.xml │ │ │ │ │ │ │ ├── peg_block_dependencies.xml │ │ │ │ │ │ │ ├── peg_insert.xml │ │ │ │ │ │ │ ├── peg_insert_dependencies.xml │ │ │ │ │ │ │ ├── plug.xml │ │ │ │ │ │ │ ├── plug_dependencies.xml │ │ │ │ │ │ │ ├── plug_wall.xml │ │ │ │ │ │ │ ├── plug_wall_dependencies.xml │ │ │ │ │ │ │ ├── puck.xml │ │ │ │ │ │ │ ├── puck_goal.xml │ │ │ │ │ │ │ ├── puck_goal_dependencies.xml │ │ │ │ │ │ │ ├── shelf.xml │ │ │ │ │ │ │ ├── shelf_dependencies.xml │ │ │ │ │ │ │ ├── shelfb.xml │ │ │ │ │ │ │ ├── shelfb_dependencies.xml │ │ │ │ │ │ │ ├── soccer_ball.xml │ │ │ │ │ │ │ ├── soccer_dependencies.xml │ │ │ │ │ │ │ ├── soccer_goal.xml │ │ │ │ │ │ │ ├── stick.xml │ │ │ │ │ │ │ ├── stick_dependencies.xml │ │ │ │ │ │ │ ├── table.xml │ │ │ │ │ │ │ ├── table_dependencies.xml │ │ │ │ │ │ │ ├── table_hole.xml │ │ │ │ │ │ │ ├── thermos.xml │ │ │ │ │ │ │ ├── thermos_dependencies.xml │ │ │ │ │ │ │ ├── wall.xml │ │ │ │ │ │ │ ├── wall_dependencies.xml │ │ │ │ │ │ │ ├── window.xml │ │ │ │ │ │ │ ├── window_dependencies.xml │ │ │ │ │ │ │ ├── window_horiz.xml │ │ │ │ │ │ │ ├── xyz_base.xml │ │ │ │ │ │ │ ├── xyz_base_bi_franka.xml │ │ │ │ │ │ │ ├── xyz_base_bi_franka_dependencies.xml │ │ │ │ │ │ │ └── xyz_base_dependencies.xml │ │ │ │ │ │ ├── assets_franka │ │ │ │ │ │ │ ├── actuator0.xml │ │ │ │ │ │ │ ├── actuator1.xml │ │ │ │ │ │ │ ├── assets.xml │ │ │ │ │ │ │ ├── basic_scene.xml │ │ │ │ │ │ │ ├── chain0.xml │ │ │ │ │ │ │ ├── chain0_nogripper.xml │ │ │ │ │ │ │ ├── chain0_overlay.xml │ │ │ │ │ │ │ ├── chain1.xml │ │ │ │ │ │ │ ├── gripper_actuator0.xml │ │ │ │ │ │ │ ├── gripper_assets.xml │ │ │ │ │ │ │ └── teleop_actuator.xml │ │ │ │ │ │ ├── basketball.xml │ │ │ │ │ │ ├── basketballhoop.xml │ │ │ │ │ │ ├── bi-franka_panda.xml │ │ │ │ │ │ ├── binA.xml │ │ │ │ │ │ ├── binB.xml │ │ │ │ │ │ ├── block.xml │ │ │ │ │ │ ├── block_cyl.xml │ │ │ │ │ │ ├── box.xml │ │ │ │ │ │ ├── buttonbox.xml │ │ │ │ │ │ ├── club.xml │ │ │ │ │ │ ├── coffeemachine.xml │ │ │ │ │ │ ├── dial.xml │ │ │ │ │ │ ├── doorlockA.xml │ │ │ │ │ │ ├── doorlockB.xml │ │ │ │ │ │ ├── drawer.xml │ │ │ │ │ │ ├── faucet.xml │ │ │ │ │ │ ├── franka_panda.xml │ │ │ │ │ │ ├── franka_panda_teleop.xml │ │ │ │ │ │ ├── hammer.xml │ │ │ │ │ │ ├── hammerblock.xml │ │ │ │ │ │ ├── handle_press.xml │ │ │ │ │ │ ├── laptop.xml │ │ │ │ │ │ ├── lever.xml │ │ │ │ │ │ ├── meshes │ │ │ │ │ │ │ ├── assembly_peg │ │ │ │ │ │ │ │ ├── assembly_peg_handle.stl │ │ │ │ │ │ │ │ ├── assembly_peg_ring.stl │ │ │ │ │ │ │ │ └── assembly_peg_rod.stl │ │ │ │ │ │ │ ├── basketball │ │ │ │ │ │ │ │ ├── backboard.stl │ │ │ │ │ │ │ │ ├── backboardsquareinner.stl │ │ │ │ │ │ │ │ ├── backboardsquareouter.stl │ │ │ │ │ │ │ │ ├── basketballinner.stl │ │ │ │ │ │ │ │ ├── basketballouter.stl │ │ │ │ │ │ │ │ ├── hoop.stl │ │ │ │ │ │ │ │ └── pole.stl │ │ │ │ │ │ │ ├── bin │ │ │ │ │ │ │ │ └── bin.stl │ │ │ │ │ │ │ ├── block │ │ │ │ │ │ │ │ └── block.stl │ │ │ │ │ │ │ ├── box │ │ │ │ │ │ │ │ ├── boxhandle.stl │ │ │ │ │ │ │ │ └── boxtop.stl │ │ │ │ │ │ │ ├── buttonbox │ │ │ │ │ │ │ │ ├── button.stl │ │ │ │ │ │ │ │ ├── buttonring.stl │ │ │ │ │ │ │ │ ├── stopbot.stl │ │ │ │ │ │ │ │ ├── stopbutton.stl │ │ │ │ │ │ │ │ ├── stopbuttonrim.stl │ │ │ │ │ │ │ │ ├── stopbuttonrod.stl │ │ │ │ │ │ │ │ └── stoptop.stl │ │ │ │ │ │ │ ├── coffeemachine │ │ │ │ │ │ │ │ ├── body1.stl │ │ │ │ │ │ │ │ ├── body2.stl │ │ │ │ │ │ │ │ ├── bodypiece1.stl │ │ │ │ │ │ │ │ ├── bodypiece2.stl │ │ │ │ │ │ │ │ ├── bodypiece3.stl │ │ │ │ │ │ │ │ ├── button.stl │ │ │ │ │ │ │ │ ├── buttonring.stl │ │ │ │ │ │ │ │ ├── cup.stl │ │ │ │ │ │ │ │ ├── handle.stl │ │ │ │ │ │ │ │ ├── mug.stl │ │ │ │ │ │ │ │ ├── spout.stl │ │ │ │ │ │ │ │ └── spoutconnect.stl │ │ │ │ │ │ │ ├── dial │ │ │ │ │ │ │ │ ├── dial.stl │ │ │ │ │ │ │ │ └── dialhead.stl │ │ │ │ │ │ │ ├── doorlock │ │ │ │ │ │ │ │ ├── door.stl │ │ │ │ │ │ │ │ ├── door_handle.stl │ │ │ │ │ │ │ │ ├── handle.stl │ │ │ │ │ │ │ │ ├── handle_base.stl │ │ │ │ │ │ │ │ ├── lock.stl │ │ │ │ │ │ │ │ ├── lock_base.stl │ │ │ │ │ │ │ │ └── safe.stl │ │ │ │ │ │ │ ├── drawer │ │ │ │ │ │ │ │ ├── drawer.stl │ │ │ │ │ │ │ │ ├── drawercase.stl │ │ │ │ │ │ │ │ └── drawerhandle.stl │ │ │ │ │ │ │ ├── faucet │ │ │ │ │ │ │ │ ├── faucetbase.stl │ │ │ │ │ │ │ │ ├── faucethandle1.stl │ │ │ │ │ │ │ │ └── faucethead.stl │ │ │ │ │ │ │ ├── golf_club │ │ │ │ │ │ │ │ ├── club_handle.stl │ │ │ │ │ │ │ │ ├── club_head.stl │ │ │ │ │ │ │ │ └── club_tape.stl │ │ │ │ │ │ │ ├── hammer │ │ │ │ │ │ │ │ ├── hammerblock.stl │ │ │ │ │ │ │ │ ├── hammerhandle.stl │ │ │ │ │ │ │ │ ├── hammerhead.stl │ │ │ │ │ │ │ │ └── nail.stl │ │ │ │ │ │ │ ├── handle_press │ │ │ │ │ │ │ │ ├── handle_press_base.stl │ │ │ │ │ │ │ │ ├── handle_press_col1.stl │ │ │ │ │ │ │ │ ├── handle_press_col2.stl │ │ │ │ │ │ │ │ ├── handle_press_col3.stl │ │ │ │ │ │ │ │ ├── handle_press_grip.stl │ │ │ │ │ │ │ │ ├── handle_press_lever.stl │ │ │ │ │ │ │ │ └── handle_press_trim.stl │ │ │ │ │ │ │ ├── laptop │ │ │ │ │ │ │ │ ├── laptop_base.stl │ │ │ │ │ │ │ │ ├── laptop_hinge.stl │ │ │ │ │ │ │ │ ├── laptop_keys.stl │ │ │ │ │ │ │ │ ├── laptop_screen.stl │ │ │ │ │ │ │ │ └── laptop_top.stl │ │ │ │ │ │ │ ├── lever │ │ │ │ │ │ │ │ ├── lever_axis.stl │ │ │ │ │ │ │ │ ├── lever_base.stl │ │ │ │ │ │ │ │ ├── lever_handle.stl │ │ │ │ │ │ │ │ ├── lever_rod.stl │ │ │ │ │ │ │ │ └── lever_rodbase.stl │ │ │ │ │ │ │ ├── peg_block │ │ │ │ │ │ │ │ ├── block_inner.stl │ │ │ │ │ │ │ │ └── block_outer.stl │ │ │ │ │ │ │ ├── plug │ │ │ │ │ │ │ │ ├── plug.stl │ │ │ │ │ │ │ │ ├── plug_head.stl │ │ │ │ │ │ │ │ ├── plug_plastic.stl │ │ │ │ │ │ │ │ └── plug_wall.stl │ │ │ │ │ │ │ ├── puck │ │ │ │ │ │ │ │ ├── goal_net.stl │ │ │ │ │ │ │ │ ├── goal_rim.stl │ │ │ │ │ │ │ │ ├── net1_col.stl │ │ │ │ │ │ │ │ ├── net2_col.stl │ │ │ │ │ │ │ │ ├── net3_col.stl │ │ │ │ │ │ │ │ ├── net4_col.stl │ │ │ │ │ │ │ │ └── puck.stl │ │ │ │ │ │ │ ├── shelf │ │ │ │ │ │ │ │ ├── shelf.stl │ │ │ │ │ │ │ │ └── shelf_supports.stl │ │ │ │ │ │ │ ├── shelfb │ │ │ │ │ │ │ │ ├── shelf_0.stl │ │ │ │ │ │ │ │ ├── shelf_1.stl │ │ │ │ │ │ │ │ └── shelf_frame.stl │ │ │ │ │ │ │ ├── soccer │ │ │ │ │ │ │ │ ├── goal_col1.stl │ │ │ │ │ │ │ │ ├── goal_col2.stl │ │ │ │ │ │ │ │ ├── goal_col3.stl │ │ │ │ │ │ │ │ ├── goal_col4.stl │ │ │ │ │ │ │ │ ├── soccer_black.stl │ │ │ │ │ │ │ │ ├── soccer_frame.stl │ │ │ │ │ │ │ │ ├── soccer_net.stl │ │ │ │ │ │ │ │ └── soccer_white.stl │ │ │ │ │ │ │ ├── stick │ │ │ │ │ │ │ │ └── stick.stl │ │ │ │ │ │ │ ├── table │ │ │ │ │ │ │ │ ├── table_hole.stl │ │ │ │ │ │ │ │ ├── table_hole2.stl │ │ │ │ │ │ │ │ ├── tablebody.stl │ │ │ │ │ │ │ │ └── tabletop.stl │ │ │ │ │ │ │ ├── thermos │ │ │ │ │ │ │ │ ├── therm_base.stl │ │ │ │ │ │ │ │ ├── therm_body.stl │ │ │ │ │ │ │ │ ├── therm_cap.stl │ │ │ │ │ │ │ │ ├── therm_handle.stl │ │ │ │ │ │ │ │ └── therm_trim.stl │ │ │ │ │ │ │ ├── window │ │ │ │ │ │ │ │ ├── window_base.stl │ │ │ │ │ │ │ │ ├── window_frame.stl │ │ │ │ │ │ │ │ ├── window_h_base.stl │ │ │ │ │ │ │ │ ├── window_h_frame.stl │ │ │ │ │ │ │ │ ├── windowa_frame.stl │ │ │ │ │ │ │ │ ├── windowa_glass.stl │ │ │ │ │ │ │ │ ├── windowa_h_frame.stl │ │ │ │ │ │ │ │ ├── windowa_h_glass.stl │ │ │ │ │ │ │ │ ├── windowb_frame.stl │ │ │ │ │ │ │ │ ├── windowb_glass.stl │ │ │ │ │ │ │ │ ├── windowb_h_frame.stl │ │ │ │ │ │ │ │ └── windowb_h_glass.stl │ │ │ │ │ │ │ └── xyz_base │ │ │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ │ │ ├── eGripperBase.stl │ │ │ │ │ │ │ │ ├── head.stl │ │ │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ │ │ ├── l1.stl │ │ │ │ │ │ │ │ ├── l2.stl │ │ │ │ │ │ │ │ ├── l3.stl │ │ │ │ │ │ │ │ ├── l4.stl │ │ │ │ │ │ │ │ ├── l5.stl │ │ │ │ │ │ │ │ ├── l6.stl │ │ │ │ │ │ │ │ └── pedestal.stl │ │ │ │ │ │ ├── meshes_franka │ │ │ │ │ │ │ ├── collision │ │ │ │ │ │ │ │ ├── finger.stl │ │ │ │ │ │ │ │ ├── hand.stl │ │ │ │ │ │ │ │ ├── link0.stl │ │ │ │ │ │ │ │ ├── link1.stl │ │ │ │ │ │ │ │ ├── link2.stl │ │ │ │ │ │ │ │ ├── link3.stl │ │ │ │ │ │ │ │ ├── link4.stl │ │ │ │ │ │ │ │ ├── link5.stl │ │ │ │ │ │ │ │ ├── link6.stl │ │ │ │ │ │ │ │ └── link7.stl │ │ │ │ │ │ │ └── visual │ │ │ │ │ │ │ │ ├── finger.stl │ │ │ │ │ │ │ │ ├── hand.stl │ │ │ │ │ │ │ │ ├── link0.stl │ │ │ │ │ │ │ │ ├── link1.stl │ │ │ │ │ │ │ │ ├── link2.stl │ │ │ │ │ │ │ │ ├── link3.stl │ │ │ │ │ │ │ │ ├── link3_dark.stl │ │ │ │ │ │ │ │ ├── link4.stl │ │ │ │ │ │ │ │ ├── link4_dark.stl │ │ │ │ │ │ │ │ ├── link5.stl │ │ │ │ │ │ │ │ ├── link5_dark.stl │ │ │ │ │ │ │ │ ├── link6.stl │ │ │ │ │ │ │ │ ├── link6_dark.stl │ │ │ │ │ │ │ │ ├── link7.stl │ │ │ │ │ │ │ │ └── link7_dark.stl │ │ │ │ │ │ ├── mug.xml │ │ │ │ │ │ ├── objA.xml │ │ │ │ │ │ ├── peg_block.xml │ │ │ │ │ │ ├── peg_insert.xml │ │ │ │ │ │ ├── plug.xml │ │ │ │ │ │ ├── plug_wall.xml │ │ │ │ │ │ ├── puck.xml │ │ │ │ │ │ ├── puck_goal.xml │ │ │ │ │ │ ├── shelf.xml │ │ │ │ │ │ ├── shelfb.xml │ │ │ │ │ │ ├── soccer_ball.xml │ │ │ │ │ │ ├── soccer_goal.xml │ │ │ │ │ │ ├── sphere.xml │ │ │ │ │ │ ├── stick.xml │ │ │ │ │ │ ├── table.xml │ │ │ │ │ │ ├── table_hole.xml │ │ │ │ │ │ ├── thermos.xml │ │ │ │ │ │ ├── wall.xml │ │ │ │ │ │ ├── window.xml │ │ │ │ │ │ ├── window_horiz.xml │ │ │ │ │ │ └── xyz_base.xml │ │ │ │ │ ├── sawyer_xyz │ │ │ │ │ │ ├── sawyer_assembly_peg.xml │ │ │ │ │ │ ├── sawyer_basketball.xml │ │ │ │ │ │ ├── sawyer_bin_picking.xml │ │ │ │ │ │ ├── sawyer_box.xml │ │ │ │ │ │ ├── sawyer_button_press.xml │ │ │ │ │ │ ├── sawyer_button_press_topdown.xml │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall.xml │ │ │ │ │ │ ├── sawyer_button_press_wall.xml │ │ │ │ │ │ ├── sawyer_coffee.xml │ │ │ │ │ │ ├── sawyer_dial.xml │ │ │ │ │ │ ├── sawyer_door_lock.xml │ │ │ │ │ │ ├── sawyer_door_pull.xml │ │ │ │ │ │ ├── sawyer_door_pull_bi_franka.xml │ │ │ │ │ │ ├── sawyer_drawer.xml │ │ │ │ │ │ ├── sawyer_drawer_with_bin.xml │ │ │ │ │ │ ├── sawyer_faucet.xml │ │ │ │ │ │ ├── sawyer_hammer.xml │ │ │ │ │ │ ├── sawyer_handle_press.xml │ │ │ │ │ │ ├── sawyer_handle_press_sideways.xml │ │ │ │ │ │ ├── sawyer_laptop.xml │ │ │ │ │ │ ├── sawyer_lever_pull.xml │ │ │ │ │ │ ├── sawyer_peg_insertion_side.xml │ │ │ │ │ │ ├── sawyer_peg_unplug_side.xml │ │ │ │ │ │ ├── sawyer_pick_and_place.xml │ │ │ │ │ │ ├── sawyer_pick_out_of_hole.xml │ │ │ │ │ │ ├── sawyer_pick_place_v2.xml │ │ │ │ │ │ ├── sawyer_pick_place_wall_v2.xml │ │ │ │ │ │ ├── sawyer_plate_slide.xml │ │ │ │ │ │ ├── sawyer_plate_slide_sideway.xml │ │ │ │ │ │ ├── sawyer_push_back_v2.xml │ │ │ │ │ │ ├── sawyer_push_v2.xml │ │ │ │ │ │ ├── sawyer_push_wall_v2.xml │ │ │ │ │ │ ├── sawyer_reach_push_pick_and_place.xml │ │ │ │ │ │ ├── sawyer_reach_push_pick_and_place_wall.xml │ │ │ │ │ │ ├── sawyer_reach_v2.xml │ │ │ │ │ │ ├── sawyer_reach_wall_v2.xml │ │ │ │ │ │ ├── sawyer_shelf_placing.xml │ │ │ │ │ │ ├── sawyer_shelf_removing.xml │ │ │ │ │ │ ├── sawyer_soccer.xml │ │ │ │ │ │ ├── sawyer_stick_obj.xml │ │ │ │ │ │ ├── sawyer_sweep_tool.xml │ │ │ │ │ │ ├── sawyer_sweep_v2.xml │ │ │ │ │ │ ├── sawyer_table_with_hole.xml │ │ │ │ │ │ ├── sawyer_table_with_hole_no_puck.xml │ │ │ │ │ │ ├── sawyer_window.xml │ │ │ │ │ │ └── sawyer_window_horizontal.xml │ │ │ │ │ └── scene │ │ │ │ │ │ ├── basic_scene.xml │ │ │ │ │ │ ├── basic_scene_b.xml │ │ │ │ │ │ └── basic_scene_c.xml │ │ │ │ ├── mujoco │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ ├── env_dict.cpython-310.pyc │ │ │ │ │ │ ├── env_dict.cpython-39.pyc │ │ │ │ │ │ ├── mujoco_env.cpython-310.pyc │ │ │ │ │ │ └── mujoco_env.cpython-39.pyc │ │ │ │ │ ├── env_dict.py │ │ │ │ │ ├── mujoco_env.py │ │ │ │ │ ├── sawyer_xyz │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_xyz_env.cpython-310.pyc │ │ │ │ │ │ │ └── sawyer_xyz_env.cpython-39.pyc │ │ │ │ │ │ ├── sawyer_xyz_env.py │ │ │ │ │ │ ├── v1 │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_assembly_peg.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_assembly_peg.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_basketball.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_basketball.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_bin_picking.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_bin_picking.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_box_close.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_box_close.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_topdown.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_topdown.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_wall.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_wall.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_button.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_button.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_pull.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_pull.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_push.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_push.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_dial_turn.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_dial_turn.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_disassemble_peg.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_disassemble_peg.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_door.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_door.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_close.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_close.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_lock.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_lock.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_unlock.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_unlock.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_close.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_close.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_open.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_open.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_faucet_close.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_faucet_close.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_faucet_open.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_faucet_open.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_hammer.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_hammer.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_hand_insert.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_hand_insert.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_press.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_press.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_press_side.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_press_side.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_pull.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_pull.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_pull_side.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_pull_side.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_lever_pull.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_lever_pull.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_back.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_back.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_side.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_side.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_push_back.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_push_back.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place_wall.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place_wall.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_shelf_place.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_shelf_place.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_soccer.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_soccer.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_stick_pull.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_stick_pull.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_stick_push.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_stick_push.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_sweep.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_sweep.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_window_close.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_window_close.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_window_open.cpython-310.pyc │ │ │ │ │ │ │ │ └── sawyer_window_open.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_assembly_peg.py │ │ │ │ │ │ │ ├── sawyer_basketball.py │ │ │ │ │ │ │ ├── sawyer_bin_picking.py │ │ │ │ │ │ │ ├── sawyer_box_close.py │ │ │ │ │ │ │ ├── sawyer_button_press.py │ │ │ │ │ │ │ ├── sawyer_button_press_topdown.py │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall.py │ │ │ │ │ │ │ ├── sawyer_button_press_wall.py │ │ │ │ │ │ │ ├── sawyer_coffee_button.py │ │ │ │ │ │ │ ├── sawyer_coffee_pull.py │ │ │ │ │ │ │ ├── sawyer_coffee_push.py │ │ │ │ │ │ │ ├── sawyer_dial_turn.py │ │ │ │ │ │ │ ├── sawyer_disassemble_peg.py │ │ │ │ │ │ │ ├── sawyer_door.py │ │ │ │ │ │ │ ├── sawyer_door_close.py │ │ │ │ │ │ │ ├── sawyer_door_lock.py │ │ │ │ │ │ │ ├── sawyer_door_unlock.py │ │ │ │ │ │ │ ├── sawyer_drawer_close.py │ │ │ │ │ │ │ ├── sawyer_drawer_open.py │ │ │ │ │ │ │ ├── sawyer_faucet_close.py │ │ │ │ │ │ │ ├── sawyer_faucet_open.py │ │ │ │ │ │ │ ├── sawyer_hammer.py │ │ │ │ │ │ │ ├── sawyer_hand_insert.py │ │ │ │ │ │ │ ├── sawyer_handle_press.py │ │ │ │ │ │ │ ├── sawyer_handle_press_side.py │ │ │ │ │ │ │ ├── sawyer_handle_pull.py │ │ │ │ │ │ │ ├── sawyer_handle_pull_side.py │ │ │ │ │ │ │ ├── sawyer_lever_pull.py │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side.py │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side.py │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole.py │ │ │ │ │ │ │ ├── sawyer_plate_slide.py │ │ │ │ │ │ │ ├── sawyer_plate_slide_back.py │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side.py │ │ │ │ │ │ │ ├── sawyer_plate_slide_side.py │ │ │ │ │ │ │ ├── sawyer_push_back.py │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place.py │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place_wall.py │ │ │ │ │ │ │ ├── sawyer_shelf_place.py │ │ │ │ │ │ │ ├── sawyer_soccer.py │ │ │ │ │ │ │ ├── sawyer_stick_pull.py │ │ │ │ │ │ │ ├── sawyer_stick_push.py │ │ │ │ │ │ │ ├── sawyer_sweep.py │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal.py │ │ │ │ │ │ │ ├── sawyer_window_close.py │ │ │ │ │ │ │ └── sawyer_window_open.py │ │ │ │ │ │ ├── v2 │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_assembly_peg_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_assembly_peg_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_basketball_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_basketball_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_bin_picking_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_bin_picking_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_box_close_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_box_close_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_button_press_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_button_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_button_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_pull_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_pull_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_push_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_coffee_push_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_dial_turn_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_dial_turn_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_disassemble_peg_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_disassemble_peg_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_bi_franka_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_bi_franka_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_close_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_close_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_lock_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_lock_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_unlock_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_unlock_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_door_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_close_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_close_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_open_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_open_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_with_bin_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_drawer_with_bin_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_faucet_close_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_faucet_close_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_faucet_open_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_faucet_open_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_hammer_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_hammer_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_hand_insert_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_hand_insert_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_press_side_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_press_side_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_press_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_press_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_pull_side_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_pull_side_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_pull_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_handle_pull_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_lever_pull_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_lever_pull_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_pick_place_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_pick_place_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_pick_place_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_pick_place_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_side_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_side_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_plate_slide_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_push_back_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_push_back_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_push_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_push_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_push_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_push_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_reach_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_reach_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_reach_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_reach_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_shelf_place_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_shelf_place_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_soccer_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_soccer_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_stick_pull_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_stick_pull_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_stick_push_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_stick_push_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_sweep_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_sweep_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_window_close_v2.cpython-310.pyc │ │ │ │ │ │ │ │ ├── sawyer_window_close_v2.cpython-39.pyc │ │ │ │ │ │ │ │ ├── sawyer_window_open_v2.cpython-310.pyc │ │ │ │ │ │ │ │ └── sawyer_window_open_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_assembly_peg_v2.py │ │ │ │ │ │ │ ├── sawyer_basketball_v2.py │ │ │ │ │ │ │ ├── sawyer_bin_picking_v2.py │ │ │ │ │ │ │ ├── sawyer_box_close_v2.py │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_v2.py │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall_v2.py │ │ │ │ │ │ │ ├── sawyer_button_press_v2.py │ │ │ │ │ │ │ ├── sawyer_button_press_wall_v2.py │ │ │ │ │ │ │ ├── sawyer_coffee_button_v2.py │ │ │ │ │ │ │ ├── sawyer_coffee_pull_v2.py │ │ │ │ │ │ │ ├── sawyer_coffee_push_v2.py │ │ │ │ │ │ │ ├── sawyer_dial_turn_v2.py │ │ │ │ │ │ │ ├── sawyer_disassemble_peg_v2.py │ │ │ │ │ │ │ ├── sawyer_door_bi_franka_v2.py │ │ │ │ │ │ │ ├── sawyer_door_close_v2.py │ │ │ │ │ │ │ ├── sawyer_door_lock_v2.py │ │ │ │ │ │ │ ├── sawyer_door_unlock_v2.py │ │ │ │ │ │ │ ├── sawyer_door_v2.py │ │ │ │ │ │ │ ├── sawyer_drawer_close_v2.py │ │ │ │ │ │ │ ├── sawyer_drawer_open_v2.py │ │ │ │ │ │ │ ├── sawyer_drawer_with_bin_v2.py │ │ │ │ │ │ │ ├── sawyer_faucet_close_v2.py │ │ │ │ │ │ │ ├── sawyer_faucet_open_v2.py │ │ │ │ │ │ │ ├── sawyer_hammer_v2.py │ │ │ │ │ │ │ ├── sawyer_hand_insert_v2.py │ │ │ │ │ │ │ ├── sawyer_handle_press_side_v2.py │ │ │ │ │ │ │ ├── sawyer_handle_press_v2.py │ │ │ │ │ │ │ ├── sawyer_handle_pull_side_v2.py │ │ │ │ │ │ │ ├── sawyer_handle_pull_v2.py │ │ │ │ │ │ │ ├── sawyer_lever_pull_v2.py │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side_v2.py │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side_v2.py │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole_v2.py │ │ │ │ │ │ │ ├── sawyer_pick_place_v2.py │ │ │ │ │ │ │ ├── sawyer_pick_place_wall_v2.py │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side_v2.py │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_v2.py │ │ │ │ │ │ │ ├── sawyer_plate_slide_side_v2.py │ │ │ │ │ │ │ ├── sawyer_plate_slide_v2.py │ │ │ │ │ │ │ ├── sawyer_push_back_v2.py │ │ │ │ │ │ │ ├── sawyer_push_v2.py │ │ │ │ │ │ │ ├── sawyer_push_wall_v2.py │ │ │ │ │ │ │ ├── sawyer_reach_v2.py │ │ │ │ │ │ │ ├── sawyer_reach_wall_v2.py │ │ │ │ │ │ │ ├── sawyer_shelf_place_v2.py │ │ │ │ │ │ │ ├── sawyer_soccer_v2.py │ │ │ │ │ │ │ ├── sawyer_stick_pull_v2.py │ │ │ │ │ │ │ ├── sawyer_stick_push_v2.py │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal_v2.py │ │ │ │ │ │ │ ├── sawyer_sweep_v2.py │ │ │ │ │ │ │ ├── sawyer_window_close_v2.py │ │ │ │ │ │ │ └── sawyer_window_open_v2.py │ │ │ │ │ │ └── visual │ │ │ │ │ │ │ └── __init__.py │ │ │ │ │ └── utils │ │ │ │ │ │ └── rotation.py │ │ │ │ └── reward_utils.py │ │ │ └── policies │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── action.cpython-310.pyc │ │ │ │ ├── action.cpython-39.pyc │ │ │ │ ├── policy.cpython-310.pyc │ │ │ │ ├── policy.cpython-39.pyc │ │ │ │ ├── sawyer_assembly_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_assembly_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_assembly_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_assembly_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_basketball_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_basketball_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_basketball_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_basketball_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_bin_picking_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_bin_picking_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_box_close_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_box_close_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_box_close_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_box_close_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_button_press_topdown_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_button_press_topdown_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_button_press_topdown_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_button_press_topdown_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_button_press_topdown_wall_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_button_press_topdown_wall_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_button_press_topdown_wall_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_button_press_topdown_wall_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_button_press_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_button_press_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_button_press_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_button_press_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_button_press_wall_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_button_press_wall_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_button_press_wall_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_button_press_wall_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_coffee_button_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_coffee_button_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_coffee_button_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_coffee_button_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_coffee_pull_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_coffee_pull_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_coffee_pull_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_coffee_pull_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_coffee_push_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_coffee_push_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_coffee_push_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_coffee_push_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_dial_turn_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_dial_turn_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_dial_turn_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_dial_turn_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_disassemble_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_disassemble_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_disassemble_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_disassemble_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_door_close_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_door_close_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_door_close_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_door_close_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_door_lock_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_door_lock_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_door_lock_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_door_lock_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_door_open_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_door_open_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_door_open_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_door_open_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_door_unlock_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_door_unlock_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_door_unlock_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_door_unlock_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_drawer_close_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_drawer_close_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_drawer_close_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_drawer_close_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_drawer_open_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_drawer_open_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_drawer_open_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_drawer_open_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_drawer_with_bin_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_drawer_with_bin_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_faucet_close_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_faucet_close_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_faucet_close_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_faucet_close_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_faucet_open_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_faucet_open_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_faucet_open_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_faucet_open_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_hammer_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_hammer_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_hammer_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_hammer_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_hand_insert_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_hand_insert_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_hand_insert_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_hand_insert_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_handle_press_side_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_handle_press_side_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_handle_press_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_handle_press_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_handle_press_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_handle_press_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_handle_pull_side_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_handle_pull_side_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_handle_pull_side_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_handle_pull_side_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_handle_pull_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_handle_pull_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_handle_pull_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_handle_pull_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_lever_pull_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_lever_pull_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_peg_insertion_side_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_peg_insertion_side_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_peg_unplug_side_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_peg_unplug_side_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_peg_unplug_side_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_peg_unplug_side_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_pick_out_of_hole_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_pick_out_of_hole_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_pick_out_of_hole_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_pick_out_of_hole_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_pick_place_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_pick_place_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_pick_place_wall_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_pick_place_wall_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_plate_slide_back_side_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_plate_slide_back_side_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_plate_slide_back_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_plate_slide_back_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_plate_slide_back_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_plate_slide_back_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_plate_slide_side_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_plate_slide_side_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_plate_slide_side_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_plate_slide_side_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_plate_slide_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_plate_slide_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_plate_slide_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_plate_slide_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_push_back_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_push_back_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_push_back_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_push_back_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_push_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_push_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_push_wall_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_push_wall_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_reach_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_reach_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_reach_wall_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_reach_wall_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_shelf_place_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_shelf_place_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_shelf_place_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_shelf_place_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_soccer_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_soccer_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_soccer_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_soccer_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_stick_pull_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_stick_pull_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_stick_pull_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_stick_pull_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_stick_push_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_stick_push_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_stick_push_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_stick_push_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_sweep_into_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_sweep_into_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_sweep_into_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_sweep_into_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_sweep_v1_policy.cpython-310.pyc │ │ │ │ ├── sawyer_sweep_v1_policy.cpython-39.pyc │ │ │ │ ├── sawyer_sweep_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_sweep_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_window_close_v2_policy.cpython-310.pyc │ │ │ │ ├── sawyer_window_close_v2_policy.cpython-39.pyc │ │ │ │ ├── sawyer_window_open_v2_policy.cpython-310.pyc │ │ │ │ └── sawyer_window_open_v2_policy.cpython-39.pyc │ │ │ │ ├── action.py │ │ │ │ ├── policy.py │ │ │ │ ├── sawyer_assembly_v1_policy.py │ │ │ │ ├── sawyer_assembly_v2_policy.py │ │ │ │ ├── sawyer_basketball_v1_policy.py │ │ │ │ ├── sawyer_basketball_v2_policy.py │ │ │ │ ├── sawyer_bin_picking_v2_policy.py │ │ │ │ ├── sawyer_box_close_v1_policy.py │ │ │ │ ├── sawyer_box_close_v2_policy.py │ │ │ │ ├── sawyer_button_press_topdown_v1_policy.py │ │ │ │ ├── sawyer_button_press_topdown_v2_policy.py │ │ │ │ ├── sawyer_button_press_topdown_wall_v1_policy.py │ │ │ │ ├── sawyer_button_press_topdown_wall_v2_policy.py │ │ │ │ ├── sawyer_button_press_v1_policy.py │ │ │ │ ├── sawyer_button_press_v2_policy.py │ │ │ │ ├── sawyer_button_press_wall_v1_policy.py │ │ │ │ ├── sawyer_button_press_wall_v2_policy.py │ │ │ │ ├── sawyer_coffee_button_v1_policy.py │ │ │ │ ├── sawyer_coffee_button_v2_policy.py │ │ │ │ ├── sawyer_coffee_pull_v1_policy.py │ │ │ │ ├── sawyer_coffee_pull_v2_policy.py │ │ │ │ ├── sawyer_coffee_push_v1_policy.py │ │ │ │ ├── sawyer_coffee_push_v2_policy.py │ │ │ │ ├── sawyer_dial_turn_v1_policy.py │ │ │ │ ├── sawyer_dial_turn_v2_policy.py │ │ │ │ ├── sawyer_disassemble_v1_policy.py │ │ │ │ ├── sawyer_disassemble_v2_policy.py │ │ │ │ ├── sawyer_door_close_v1_policy.py │ │ │ │ ├── sawyer_door_close_v2_policy.py │ │ │ │ ├── sawyer_door_lock_v1_policy.py │ │ │ │ ├── sawyer_door_lock_v2_policy.py │ │ │ │ ├── sawyer_door_open_v1_policy.py │ │ │ │ ├── sawyer_door_open_v2_policy.py │ │ │ │ ├── sawyer_door_unlock_v1_policy.py │ │ │ │ ├── sawyer_door_unlock_v2_policy.py │ │ │ │ ├── sawyer_drawer_close_v1_policy.py │ │ │ │ ├── sawyer_drawer_close_v2_policy.py │ │ │ │ ├── sawyer_drawer_open_v1_policy.py │ │ │ │ ├── sawyer_drawer_open_v2_policy.py │ │ │ │ ├── sawyer_drawer_with_bin_v2_policy.py │ │ │ │ ├── sawyer_faucet_close_v1_policy.py │ │ │ │ ├── sawyer_faucet_close_v2_policy.py │ │ │ │ ├── sawyer_faucet_open_v1_policy.py │ │ │ │ ├── sawyer_faucet_open_v2_policy.py │ │ │ │ ├── sawyer_hammer_v1_policy.py │ │ │ │ ├── sawyer_hammer_v2_policy.py │ │ │ │ ├── sawyer_hand_insert_v1_policy.py │ │ │ │ ├── sawyer_hand_insert_v2_policy.py │ │ │ │ ├── sawyer_handle_press_side_v2_policy.py │ │ │ │ ├── sawyer_handle_press_v1_policy.py │ │ │ │ ├── sawyer_handle_press_v2_policy.py │ │ │ │ ├── sawyer_handle_pull_side_v1_policy.py │ │ │ │ ├── sawyer_handle_pull_side_v2_policy.py │ │ │ │ ├── sawyer_handle_pull_v1_policy.py │ │ │ │ ├── sawyer_handle_pull_v2_policy.py │ │ │ │ ├── sawyer_lever_pull_v2_policy.py │ │ │ │ ├── sawyer_peg_insertion_side_v2_policy.py │ │ │ │ ├── sawyer_peg_unplug_side_v1_policy.py │ │ │ │ ├── sawyer_peg_unplug_side_v2_policy.py │ │ │ │ ├── sawyer_pick_out_of_hole_v1_policy.py │ │ │ │ ├── sawyer_pick_out_of_hole_v2_policy.py │ │ │ │ ├── sawyer_pick_place_v2_policy.py │ │ │ │ ├── sawyer_pick_place_wall_v2_policy.py │ │ │ │ ├── sawyer_plate_slide_back_side_v2_policy.py │ │ │ │ ├── sawyer_plate_slide_back_v1_policy.py │ │ │ │ ├── sawyer_plate_slide_back_v2_policy.py │ │ │ │ ├── sawyer_plate_slide_side_v1_policy.py │ │ │ │ ├── sawyer_plate_slide_side_v2_policy.py │ │ │ │ ├── sawyer_plate_slide_v1_policy.py │ │ │ │ ├── sawyer_plate_slide_v2_policy.py │ │ │ │ ├── sawyer_push_back_v1_policy.py │ │ │ │ ├── sawyer_push_back_v2_policy.py │ │ │ │ ├── sawyer_push_v2_policy.py │ │ │ │ ├── sawyer_push_wall_v2_policy.py │ │ │ │ ├── sawyer_reach_v2_policy.py │ │ │ │ ├── sawyer_reach_wall_v2_policy.py │ │ │ │ ├── sawyer_shelf_place_v1_policy.py │ │ │ │ ├── sawyer_shelf_place_v2_policy.py │ │ │ │ ├── sawyer_soccer_v1_policy.py │ │ │ │ ├── sawyer_soccer_v2_policy.py │ │ │ │ ├── sawyer_stick_pull_v1_policy.py │ │ │ │ ├── sawyer_stick_pull_v2_policy.py │ │ │ │ ├── sawyer_stick_push_v1_policy.py │ │ │ │ ├── sawyer_stick_push_v2_policy.py │ │ │ │ ├── sawyer_sweep_into_v1_policy.py │ │ │ │ ├── sawyer_sweep_into_v2_policy.py │ │ │ │ ├── sawyer_sweep_v1_policy.py │ │ │ │ ├── sawyer_sweep_v2_policy.py │ │ │ │ ├── sawyer_window_close_v2_policy.py │ │ │ │ └── sawyer_window_open_v2_policy.py │ │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── helpers.py │ │ │ ├── integration │ │ │ ├── __init__.py │ │ │ ├── test_memory_usage.py │ │ │ ├── test_new_api.py │ │ │ └── test_single_goal_envs.py │ │ │ └── metaworld │ │ │ ├── __init__.py │ │ │ └── envs │ │ │ ├── __init__.py │ │ │ └── mujoco │ │ │ ├── __init__.py │ │ │ └── sawyer_xyz │ │ │ ├── __init__.py │ │ │ ├── test_obs_space_hand.py │ │ │ ├── test_sawyer_xyz_env.py │ │ │ ├── test_scripted_policies.py │ │ │ ├── test_seeded_rand_vec.py │ │ │ └── utils.py │ ├── docker │ │ ├── Dockerfile │ │ ├── README.md │ │ └── entrypoint-headless.sh │ ├── metaworld.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── metaworld │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ └── __init__.cpython-39.pyc │ │ ├── envs │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ ├── asset_path_utils.cpython-310.pyc │ │ │ │ ├── asset_path_utils.cpython-39.pyc │ │ │ │ ├── reward_utils.cpython-310.pyc │ │ │ │ └── reward_utils.cpython-39.pyc │ │ │ ├── asset_path_utils.py │ │ │ ├── assets_updated │ │ │ │ └── sawyer_xyz │ │ │ │ │ └── dm_control_pick_place.ipynb │ │ │ ├── assets_v1 │ │ │ │ └── multiobject_models │ │ │ │ │ ├── Bowl │ │ │ │ │ └── Bowl.wrl │ │ │ │ │ ├── ElephantBowl │ │ │ │ │ └── ElephantBowl.wrl │ │ │ │ │ ├── Fork │ │ │ │ │ └── Fork.wrl │ │ │ │ │ ├── GlassBowl │ │ │ │ │ └── GlassBowl.wrl │ │ │ │ │ ├── Knife │ │ │ │ │ └── Knife.wrl │ │ │ │ │ ├── LotusBowl01 │ │ │ │ │ └── LotusBowl01.wrl │ │ │ │ │ ├── RuggedBowl │ │ │ │ │ └── RuggedBowl.wrl │ │ │ │ │ ├── ServingBowl │ │ │ │ │ └── ServingBowl.wrl │ │ │ │ │ ├── Spoon │ │ │ │ │ └── Spoon.wrl │ │ │ │ │ └── generate_touch_sensors.py │ │ │ ├── assets_v2 │ │ │ │ ├── objects │ │ │ │ │ ├── assembly_peg.xml │ │ │ │ │ ├── assets │ │ │ │ │ │ ├── assembly_peg.xml │ │ │ │ │ │ ├── assembly_peg_dependencies.xml │ │ │ │ │ │ ├── basketball.xml │ │ │ │ │ │ ├── basketball_dependencies.xml │ │ │ │ │ │ ├── basketballhoop.xml │ │ │ │ │ │ ├── binA.xml │ │ │ │ │ │ ├── binB.xml │ │ │ │ │ │ ├── bin_dependencies.xml │ │ │ │ │ │ ├── block.xml │ │ │ │ │ │ ├── block_cyl.xml │ │ │ │ │ │ ├── block_dependencies.xml │ │ │ │ │ │ ├── box.xml │ │ │ │ │ │ ├── box_dependencies.xml │ │ │ │ │ │ ├── boxtop.xml │ │ │ │ │ │ ├── buttonbox.xml │ │ │ │ │ │ ├── buttonbox_dependencies.xml │ │ │ │ │ │ ├── club.xml │ │ │ │ │ │ ├── club_dependencies.xml │ │ │ │ │ │ ├── coffeemachine.xml │ │ │ │ │ │ ├── coffeemachine_dependencies.xml │ │ │ │ │ │ ├── dial.xml │ │ │ │ │ │ ├── dial_dependencies.xml │ │ │ │ │ │ ├── doorlockA.xml │ │ │ │ │ │ ├── doorlockB.xml │ │ │ │ │ │ ├── doorlock_dependencies.xml │ │ │ │ │ │ ├── drawer.xml │ │ │ │ │ │ ├── drawer_dependencies.xml │ │ │ │ │ │ ├── faucet.xml │ │ │ │ │ │ ├── faucet_dependencies.xml │ │ │ │ │ │ ├── hammer.xml │ │ │ │ │ │ ├── hammer_dependencies.xml │ │ │ │ │ │ ├── hammerblock.xml │ │ │ │ │ │ ├── handle_press.xml │ │ │ │ │ │ ├── handle_press_dependencies.xml │ │ │ │ │ │ ├── laptop.xml │ │ │ │ │ │ ├── laptop_dependencies.xml │ │ │ │ │ │ ├── lever.xml │ │ │ │ │ │ ├── lever_dependencies.xml │ │ │ │ │ │ ├── mug.xml │ │ │ │ │ │ ├── objA.xml │ │ │ │ │ │ ├── peg_block.xml │ │ │ │ │ │ ├── peg_block_dependencies.xml │ │ │ │ │ │ ├── peg_insert.xml │ │ │ │ │ │ ├── peg_insert_dependencies.xml │ │ │ │ │ │ ├── plug.xml │ │ │ │ │ │ ├── plug_dependencies.xml │ │ │ │ │ │ ├── plug_wall.xml │ │ │ │ │ │ ├── plug_wall_dependencies.xml │ │ │ │ │ │ ├── puck.xml │ │ │ │ │ │ ├── puck_goal.xml │ │ │ │ │ │ ├── puck_goal_dependencies.xml │ │ │ │ │ │ ├── shelf.xml │ │ │ │ │ │ ├── shelf_dependencies.xml │ │ │ │ │ │ ├── shelfb.xml │ │ │ │ │ │ ├── shelfb_dependencies.xml │ │ │ │ │ │ ├── soccer_ball.xml │ │ │ │ │ │ ├── soccer_dependencies.xml │ │ │ │ │ │ ├── soccer_goal.xml │ │ │ │ │ │ ├── stick.xml │ │ │ │ │ │ ├── stick_dependencies.xml │ │ │ │ │ │ ├── table.xml │ │ │ │ │ │ ├── table_dependencies.xml │ │ │ │ │ │ ├── table_hole.xml │ │ │ │ │ │ ├── thermos.xml │ │ │ │ │ │ ├── thermos_dependencies.xml │ │ │ │ │ │ ├── wall.xml │ │ │ │ │ │ ├── wall_dependencies.xml │ │ │ │ │ │ ├── window.xml │ │ │ │ │ │ ├── window_dependencies.xml │ │ │ │ │ │ ├── window_horiz.xml │ │ │ │ │ │ ├── xyz_base.xml │ │ │ │ │ │ ├── xyz_base_bi_franka.xml │ │ │ │ │ │ ├── xyz_base_bi_franka_dependencies.xml │ │ │ │ │ │ └── xyz_base_dependencies.xml │ │ │ │ │ ├── assets_franka │ │ │ │ │ │ ├── actuator0.xml │ │ │ │ │ │ ├── actuator1.xml │ │ │ │ │ │ ├── assets.xml │ │ │ │ │ │ ├── basic_scene.xml │ │ │ │ │ │ ├── chain0.xml │ │ │ │ │ │ ├── chain0_nogripper.xml │ │ │ │ │ │ ├── chain0_overlay.xml │ │ │ │ │ │ ├── chain1.xml │ │ │ │ │ │ ├── gripper_actuator0.xml │ │ │ │ │ │ ├── gripper_assets.xml │ │ │ │ │ │ └── teleop_actuator.xml │ │ │ │ │ ├── basketball.xml │ │ │ │ │ ├── basketballhoop.xml │ │ │ │ │ ├── bi-franka_panda.xml │ │ │ │ │ ├── binA.xml │ │ │ │ │ ├── binB.xml │ │ │ │ │ ├── block.xml │ │ │ │ │ ├── block_cyl.xml │ │ │ │ │ ├── box.xml │ │ │ │ │ ├── buttonbox.xml │ │ │ │ │ ├── club.xml │ │ │ │ │ ├── coffeemachine.xml │ │ │ │ │ ├── dial.xml │ │ │ │ │ ├── doorlockA.xml │ │ │ │ │ ├── doorlockB.xml │ │ │ │ │ ├── drawer.xml │ │ │ │ │ ├── faucet.xml │ │ │ │ │ ├── franka_panda.xml │ │ │ │ │ ├── franka_panda_teleop.xml │ │ │ │ │ ├── hammer.xml │ │ │ │ │ ├── hammerblock.xml │ │ │ │ │ ├── handle_press.xml │ │ │ │ │ ├── laptop.xml │ │ │ │ │ ├── lever.xml │ │ │ │ │ ├── meshes │ │ │ │ │ │ ├── assembly_peg │ │ │ │ │ │ │ ├── assembly_peg_handle.stl │ │ │ │ │ │ │ ├── assembly_peg_ring.stl │ │ │ │ │ │ │ └── assembly_peg_rod.stl │ │ │ │ │ │ ├── basketball │ │ │ │ │ │ │ ├── backboard.stl │ │ │ │ │ │ │ ├── backboardsquareinner.stl │ │ │ │ │ │ │ ├── backboardsquareouter.stl │ │ │ │ │ │ │ ├── basketballinner.stl │ │ │ │ │ │ │ ├── basketballouter.stl │ │ │ │ │ │ │ ├── hoop.stl │ │ │ │ │ │ │ └── pole.stl │ │ │ │ │ │ ├── bin │ │ │ │ │ │ │ └── bin.stl │ │ │ │ │ │ ├── block │ │ │ │ │ │ │ └── block.stl │ │ │ │ │ │ ├── box │ │ │ │ │ │ │ ├── boxhandle.stl │ │ │ │ │ │ │ └── boxtop.stl │ │ │ │ │ │ ├── buttonbox │ │ │ │ │ │ │ ├── button.stl │ │ │ │ │ │ │ ├── buttonring.stl │ │ │ │ │ │ │ ├── stopbot.stl │ │ │ │ │ │ │ ├── stopbutton.stl │ │ │ │ │ │ │ ├── stopbuttonrim.stl │ │ │ │ │ │ │ ├── stopbuttonrod.stl │ │ │ │ │ │ │ └── stoptop.stl │ │ │ │ │ │ ├── coffeemachine │ │ │ │ │ │ │ ├── body1.stl │ │ │ │ │ │ │ ├── body2.stl │ │ │ │ │ │ │ ├── bodypiece1.stl │ │ │ │ │ │ │ ├── bodypiece2.stl │ │ │ │ │ │ │ ├── bodypiece3.stl │ │ │ │ │ │ │ ├── button.stl │ │ │ │ │ │ │ ├── buttonring.stl │ │ │ │ │ │ │ ├── cup.stl │ │ │ │ │ │ │ ├── handle.stl │ │ │ │ │ │ │ ├── mug.stl │ │ │ │ │ │ │ ├── spout.stl │ │ │ │ │ │ │ └── spoutconnect.stl │ │ │ │ │ │ ├── dial │ │ │ │ │ │ │ ├── dial.stl │ │ │ │ │ │ │ └── dialhead.stl │ │ │ │ │ │ ├── doorlock │ │ │ │ │ │ │ ├── door.stl │ │ │ │ │ │ │ ├── door_handle.stl │ │ │ │ │ │ │ ├── handle.stl │ │ │ │ │ │ │ ├── handle_base.stl │ │ │ │ │ │ │ ├── lock.stl │ │ │ │ │ │ │ ├── lock_base.stl │ │ │ │ │ │ │ └── safe.stl │ │ │ │ │ │ ├── drawer │ │ │ │ │ │ │ ├── drawer.stl │ │ │ │ │ │ │ ├── drawercase.stl │ │ │ │ │ │ │ └── drawerhandle.stl │ │ │ │ │ │ ├── faucet │ │ │ │ │ │ │ ├── faucetbase.stl │ │ │ │ │ │ │ ├── faucethandle1.stl │ │ │ │ │ │ │ └── faucethead.stl │ │ │ │ │ │ ├── golf_club │ │ │ │ │ │ │ ├── club_handle.stl │ │ │ │ │ │ │ ├── club_head.stl │ │ │ │ │ │ │ └── club_tape.stl │ │ │ │ │ │ ├── hammer │ │ │ │ │ │ │ ├── hammerblock.stl │ │ │ │ │ │ │ ├── hammerhandle.stl │ │ │ │ │ │ │ ├── hammerhead.stl │ │ │ │ │ │ │ └── nail.stl │ │ │ │ │ │ ├── handle_press │ │ │ │ │ │ │ ├── handle_press_base.stl │ │ │ │ │ │ │ ├── handle_press_col1.stl │ │ │ │ │ │ │ ├── handle_press_col2.stl │ │ │ │ │ │ │ ├── handle_press_col3.stl │ │ │ │ │ │ │ ├── handle_press_grip.stl │ │ │ │ │ │ │ ├── handle_press_lever.stl │ │ │ │ │ │ │ └── handle_press_trim.stl │ │ │ │ │ │ ├── laptop │ │ │ │ │ │ │ ├── laptop_base.stl │ │ │ │ │ │ │ ├── laptop_hinge.stl │ │ │ │ │ │ │ ├── laptop_keys.stl │ │ │ │ │ │ │ ├── laptop_screen.stl │ │ │ │ │ │ │ └── laptop_top.stl │ │ │ │ │ │ ├── lever │ │ │ │ │ │ │ ├── lever_axis.stl │ │ │ │ │ │ │ ├── lever_base.stl │ │ │ │ │ │ │ ├── lever_handle.stl │ │ │ │ │ │ │ ├── lever_rod.stl │ │ │ │ │ │ │ └── lever_rodbase.stl │ │ │ │ │ │ ├── peg_block │ │ │ │ │ │ │ ├── block_inner.stl │ │ │ │ │ │ │ └── block_outer.stl │ │ │ │ │ │ ├── plug │ │ │ │ │ │ │ ├── plug.stl │ │ │ │ │ │ │ ├── plug_head.stl │ │ │ │ │ │ │ ├── plug_plastic.stl │ │ │ │ │ │ │ └── plug_wall.stl │ │ │ │ │ │ ├── puck │ │ │ │ │ │ │ ├── goal_net.stl │ │ │ │ │ │ │ ├── goal_rim.stl │ │ │ │ │ │ │ ├── net1_col.stl │ │ │ │ │ │ │ ├── net2_col.stl │ │ │ │ │ │ │ ├── net3_col.stl │ │ │ │ │ │ │ ├── net4_col.stl │ │ │ │ │ │ │ └── puck.stl │ │ │ │ │ │ ├── shelf │ │ │ │ │ │ │ ├── shelf.stl │ │ │ │ │ │ │ └── shelf_supports.stl │ │ │ │ │ │ ├── shelfb │ │ │ │ │ │ │ ├── shelf_0.stl │ │ │ │ │ │ │ ├── shelf_1.stl │ │ │ │ │ │ │ └── shelf_frame.stl │ │ │ │ │ │ ├── soccer │ │ │ │ │ │ │ ├── goal_col1.stl │ │ │ │ │ │ │ ├── goal_col2.stl │ │ │ │ │ │ │ ├── goal_col3.stl │ │ │ │ │ │ │ ├── goal_col4.stl │ │ │ │ │ │ │ ├── soccer_black.stl │ │ │ │ │ │ │ ├── soccer_frame.stl │ │ │ │ │ │ │ ├── soccer_net.stl │ │ │ │ │ │ │ └── soccer_white.stl │ │ │ │ │ │ ├── stick │ │ │ │ │ │ │ └── stick.stl │ │ │ │ │ │ ├── table │ │ │ │ │ │ │ ├── table_hole.stl │ │ │ │ │ │ │ ├── table_hole2.stl │ │ │ │ │ │ │ ├── tablebody.stl │ │ │ │ │ │ │ └── tabletop.stl │ │ │ │ │ │ ├── thermos │ │ │ │ │ │ │ ├── therm_base.stl │ │ │ │ │ │ │ ├── therm_body.stl │ │ │ │ │ │ │ ├── therm_cap.stl │ │ │ │ │ │ │ ├── therm_handle.stl │ │ │ │ │ │ │ └── therm_trim.stl │ │ │ │ │ │ ├── window │ │ │ │ │ │ │ ├── window_base.stl │ │ │ │ │ │ │ ├── window_frame.stl │ │ │ │ │ │ │ ├── window_h_base.stl │ │ │ │ │ │ │ ├── window_h_frame.stl │ │ │ │ │ │ │ ├── windowa_frame.stl │ │ │ │ │ │ │ ├── windowa_glass.stl │ │ │ │ │ │ │ ├── windowa_h_frame.stl │ │ │ │ │ │ │ ├── windowa_h_glass.stl │ │ │ │ │ │ │ ├── windowb_frame.stl │ │ │ │ │ │ │ ├── windowb_glass.stl │ │ │ │ │ │ │ ├── windowb_h_frame.stl │ │ │ │ │ │ │ └── windowb_h_glass.stl │ │ │ │ │ │ └── xyz_base │ │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ │ ├── eGripperBase.stl │ │ │ │ │ │ │ ├── head.stl │ │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ │ ├── l1.stl │ │ │ │ │ │ │ ├── l2.stl │ │ │ │ │ │ │ ├── l3.stl │ │ │ │ │ │ │ ├── l4.stl │ │ │ │ │ │ │ ├── l5.stl │ │ │ │ │ │ │ ├── l6.stl │ │ │ │ │ │ │ └── pedestal.stl │ │ │ │ │ ├── meshes_franka │ │ │ │ │ │ ├── collision │ │ │ │ │ │ │ ├── finger.stl │ │ │ │ │ │ │ ├── hand.stl │ │ │ │ │ │ │ ├── link0.stl │ │ │ │ │ │ │ ├── link1.stl │ │ │ │ │ │ │ ├── link2.stl │ │ │ │ │ │ │ ├── link3.stl │ │ │ │ │ │ │ ├── link4.stl │ │ │ │ │ │ │ ├── link5.stl │ │ │ │ │ │ │ ├── link6.stl │ │ │ │ │ │ │ └── link7.stl │ │ │ │ │ │ └── visual │ │ │ │ │ │ │ ├── finger.stl │ │ │ │ │ │ │ ├── hand.stl │ │ │ │ │ │ │ ├── link0.stl │ │ │ │ │ │ │ ├── link1.stl │ │ │ │ │ │ │ ├── link2.stl │ │ │ │ │ │ │ ├── link3.stl │ │ │ │ │ │ │ ├── link3_dark.stl │ │ │ │ │ │ │ ├── link4.stl │ │ │ │ │ │ │ ├── link4_dark.stl │ │ │ │ │ │ │ ├── link5.stl │ │ │ │ │ │ │ ├── link5_dark.stl │ │ │ │ │ │ │ ├── link6.stl │ │ │ │ │ │ │ ├── link6_dark.stl │ │ │ │ │ │ │ ├── link7.stl │ │ │ │ │ │ │ └── link7_dark.stl │ │ │ │ │ ├── mug.xml │ │ │ │ │ ├── objA.xml │ │ │ │ │ ├── peg_block.xml │ │ │ │ │ ├── peg_insert.xml │ │ │ │ │ ├── plug.xml │ │ │ │ │ ├── plug_wall.xml │ │ │ │ │ ├── puck.xml │ │ │ │ │ ├── puck_goal.xml │ │ │ │ │ ├── shelf.xml │ │ │ │ │ ├── shelfb.xml │ │ │ │ │ ├── soccer_ball.xml │ │ │ │ │ ├── soccer_goal.xml │ │ │ │ │ ├── sphere.xml │ │ │ │ │ ├── stick.xml │ │ │ │ │ ├── table.xml │ │ │ │ │ ├── table_hole.xml │ │ │ │ │ ├── thermos.xml │ │ │ │ │ ├── wall.xml │ │ │ │ │ ├── window.xml │ │ │ │ │ ├── window_horiz.xml │ │ │ │ │ └── xyz_base.xml │ │ │ │ ├── sawyer_xyz │ │ │ │ │ ├── sawyer_assembly_peg.xml │ │ │ │ │ ├── sawyer_basketball.xml │ │ │ │ │ ├── sawyer_bin_picking.xml │ │ │ │ │ ├── sawyer_box.xml │ │ │ │ │ ├── sawyer_button_press.xml │ │ │ │ │ ├── sawyer_button_press_topdown.xml │ │ │ │ │ ├── sawyer_button_press_topdown_wall.xml │ │ │ │ │ ├── sawyer_button_press_wall.xml │ │ │ │ │ ├── sawyer_coffee.xml │ │ │ │ │ ├── sawyer_dial.xml │ │ │ │ │ ├── sawyer_door_lock.xml │ │ │ │ │ ├── sawyer_door_pull.xml │ │ │ │ │ ├── sawyer_door_pull_bi_franka.xml │ │ │ │ │ ├── sawyer_drawer.xml │ │ │ │ │ ├── sawyer_drawer_with_bin.xml │ │ │ │ │ ├── sawyer_faucet.xml │ │ │ │ │ ├── sawyer_hammer.xml │ │ │ │ │ ├── sawyer_handle_press.xml │ │ │ │ │ ├── sawyer_handle_press_sideways.xml │ │ │ │ │ ├── sawyer_laptop.xml │ │ │ │ │ ├── sawyer_lever_pull.xml │ │ │ │ │ ├── sawyer_peg_insertion_side.xml │ │ │ │ │ ├── sawyer_peg_unplug_side.xml │ │ │ │ │ ├── sawyer_pick_and_place.xml │ │ │ │ │ ├── sawyer_pick_out_of_hole.xml │ │ │ │ │ ├── sawyer_pick_place_v2.xml │ │ │ │ │ ├── sawyer_pick_place_wall_v2.xml │ │ │ │ │ ├── sawyer_plate_slide.xml │ │ │ │ │ ├── sawyer_plate_slide_sideway.xml │ │ │ │ │ ├── sawyer_push_back_v2.xml │ │ │ │ │ ├── sawyer_push_v2.xml │ │ │ │ │ ├── sawyer_push_wall_v2.xml │ │ │ │ │ ├── sawyer_reach_push_pick_and_place.xml │ │ │ │ │ ├── sawyer_reach_push_pick_and_place_wall.xml │ │ │ │ │ ├── sawyer_reach_v2.xml │ │ │ │ │ ├── sawyer_reach_wall_v2.xml │ │ │ │ │ ├── sawyer_shelf_placing.xml │ │ │ │ │ ├── sawyer_shelf_removing.xml │ │ │ │ │ ├── sawyer_soccer.xml │ │ │ │ │ ├── sawyer_stick_obj.xml │ │ │ │ │ ├── sawyer_sweep_tool.xml │ │ │ │ │ ├── sawyer_sweep_v2.xml │ │ │ │ │ ├── sawyer_table_with_hole.xml │ │ │ │ │ ├── sawyer_table_with_hole_no_puck.xml │ │ │ │ │ ├── sawyer_window.xml │ │ │ │ │ └── sawyer_window_horizontal.xml │ │ │ │ └── scene │ │ │ │ │ ├── basic_scene.xml │ │ │ │ │ ├── basic_scene_b.xml │ │ │ │ │ └── basic_scene_c.xml │ │ │ ├── mujoco │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ ├── env_dict.cpython-310.pyc │ │ │ │ │ ├── env_dict.cpython-39.pyc │ │ │ │ │ ├── mujoco_env.cpython-310.pyc │ │ │ │ │ └── mujoco_env.cpython-39.pyc │ │ │ │ ├── env_dict.py │ │ │ │ ├── mujoco_env.py │ │ │ │ ├── sawyer_xyz │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ ├── sawyer_xyz_env.cpython-310.pyc │ │ │ │ │ │ └── sawyer_xyz_env.cpython-39.pyc │ │ │ │ │ ├── sawyer_xyz_env.py │ │ │ │ │ ├── v1 │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_assembly_peg.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_assembly_peg.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_basketball.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_basketball.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_bin_picking.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_bin_picking.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_box_close.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_box_close.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_button_press.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_button_press.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_topdown.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_topdown.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_wall.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_wall.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_button.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_button.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_pull.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_pull.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_push.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_push.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_dial_turn.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_dial_turn.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_disassemble_peg.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_disassemble_peg.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_door.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_door.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_door_close.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_door_close.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_door_lock.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_door_lock.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_door_unlock.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_door_unlock.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_close.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_close.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_open.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_open.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_faucet_close.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_faucet_close.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_faucet_open.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_faucet_open.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_hammer.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_hammer.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_hand_insert.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_hand_insert.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_handle_press.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_handle_press.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_handle_press_side.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_handle_press_side.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_handle_pull.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_handle_pull.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_handle_pull_side.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_handle_pull_side.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_lever_pull.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_lever_pull.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_back.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_back.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_side.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_side.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_push_back.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_push_back.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place_wall.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_reach_push_pick_place_wall.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_shelf_place.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_shelf_place.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_soccer.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_soccer.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_stick_pull.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_stick_pull.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_stick_push.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_stick_push.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_sweep.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_sweep.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_window_close.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_window_close.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_window_open.cpython-310.pyc │ │ │ │ │ │ │ └── sawyer_window_open.cpython-39.pyc │ │ │ │ │ │ ├── sawyer_assembly_peg.py │ │ │ │ │ │ ├── sawyer_basketball.py │ │ │ │ │ │ ├── sawyer_bin_picking.py │ │ │ │ │ │ ├── sawyer_box_close.py │ │ │ │ │ │ ├── sawyer_button_press.py │ │ │ │ │ │ ├── sawyer_button_press_topdown.py │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall.py │ │ │ │ │ │ ├── sawyer_button_press_wall.py │ │ │ │ │ │ ├── sawyer_coffee_button.py │ │ │ │ │ │ ├── sawyer_coffee_pull.py │ │ │ │ │ │ ├── sawyer_coffee_push.py │ │ │ │ │ │ ├── sawyer_dial_turn.py │ │ │ │ │ │ ├── sawyer_disassemble_peg.py │ │ │ │ │ │ ├── sawyer_door.py │ │ │ │ │ │ ├── sawyer_door_close.py │ │ │ │ │ │ ├── sawyer_door_lock.py │ │ │ │ │ │ ├── sawyer_door_unlock.py │ │ │ │ │ │ ├── sawyer_drawer_close.py │ │ │ │ │ │ ├── sawyer_drawer_open.py │ │ │ │ │ │ ├── sawyer_faucet_close.py │ │ │ │ │ │ ├── sawyer_faucet_open.py │ │ │ │ │ │ ├── sawyer_hammer.py │ │ │ │ │ │ ├── sawyer_hand_insert.py │ │ │ │ │ │ ├── sawyer_handle_press.py │ │ │ │ │ │ ├── sawyer_handle_press_side.py │ │ │ │ │ │ ├── sawyer_handle_pull.py │ │ │ │ │ │ ├── sawyer_handle_pull_side.py │ │ │ │ │ │ ├── sawyer_lever_pull.py │ │ │ │ │ │ ├── sawyer_peg_insertion_side.py │ │ │ │ │ │ ├── sawyer_peg_unplug_side.py │ │ │ │ │ │ ├── sawyer_pick_out_of_hole.py │ │ │ │ │ │ ├── sawyer_plate_slide.py │ │ │ │ │ │ ├── sawyer_plate_slide_back.py │ │ │ │ │ │ ├── sawyer_plate_slide_back_side.py │ │ │ │ │ │ ├── sawyer_plate_slide_side.py │ │ │ │ │ │ ├── sawyer_push_back.py │ │ │ │ │ │ ├── sawyer_reach_push_pick_place.py │ │ │ │ │ │ ├── sawyer_reach_push_pick_place_wall.py │ │ │ │ │ │ ├── sawyer_shelf_place.py │ │ │ │ │ │ ├── sawyer_soccer.py │ │ │ │ │ │ ├── sawyer_stick_pull.py │ │ │ │ │ │ ├── sawyer_stick_push.py │ │ │ │ │ │ ├── sawyer_sweep.py │ │ │ │ │ │ ├── sawyer_sweep_into_goal.py │ │ │ │ │ │ ├── sawyer_window_close.py │ │ │ │ │ │ └── sawyer_window_open.py │ │ │ │ │ ├── v2 │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── __pycache__ │ │ │ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ │ │ │ ├── __init__.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_assembly_peg_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_assembly_peg_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_basketball_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_basketball_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_bin_picking_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_bin_picking_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_box_close_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_box_close_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_button_press_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_button_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_button_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_pull_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_pull_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_push_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_coffee_push_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_dial_turn_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_dial_turn_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_disassemble_peg_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_disassemble_peg_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_door_bi_franka_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_door_bi_franka_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_door_close_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_door_close_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_door_lock_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_door_lock_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_door_unlock_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_door_unlock_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_door_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_door_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_close_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_close_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_open_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_open_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_with_bin_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_drawer_with_bin_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_faucet_close_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_faucet_close_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_faucet_open_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_faucet_open_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_hammer_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_hammer_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_hand_insert_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_hand_insert_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_handle_press_side_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_handle_press_side_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_handle_press_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_handle_press_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_handle_pull_side_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_handle_pull_side_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_handle_pull_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_handle_pull_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_lever_pull_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_lever_pull_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_peg_insertion_side_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_peg_unplug_side_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_pick_out_of_hole_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_pick_place_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_pick_place_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_pick_place_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_pick_place_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_side_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_back_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_side_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_side_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_plate_slide_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_push_back_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_push_back_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_push_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_push_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_push_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_push_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_reach_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_reach_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_reach_wall_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_reach_wall_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_shelf_place_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_shelf_place_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_soccer_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_soccer_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_stick_pull_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_stick_pull_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_stick_push_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_stick_push_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_sweep_into_goal_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_sweep_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_sweep_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_window_close_v2.cpython-310.pyc │ │ │ │ │ │ │ ├── sawyer_window_close_v2.cpython-39.pyc │ │ │ │ │ │ │ ├── sawyer_window_open_v2.cpython-310.pyc │ │ │ │ │ │ │ └── sawyer_window_open_v2.cpython-39.pyc │ │ │ │ │ │ ├── sawyer_assembly_peg_v2.py │ │ │ │ │ │ ├── sawyer_basketball_v2.py │ │ │ │ │ │ ├── sawyer_bin_picking_v2.py │ │ │ │ │ │ ├── sawyer_box_close_v2.py │ │ │ │ │ │ ├── sawyer_button_press_topdown_v2.py │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall_v2.py │ │ │ │ │ │ ├── sawyer_button_press_v2.py │ │ │ │ │ │ ├── sawyer_button_press_wall_v2.py │ │ │ │ │ │ ├── sawyer_coffee_button_v2.py │ │ │ │ │ │ ├── sawyer_coffee_pull_v2.py │ │ │ │ │ │ ├── sawyer_coffee_push_v2.py │ │ │ │ │ │ ├── sawyer_dial_turn_v2.py │ │ │ │ │ │ ├── sawyer_disassemble_peg_v2.py │ │ │ │ │ │ ├── sawyer_door_bi_franka_v2.py │ │ │ │ │ │ ├── sawyer_door_close_v2.py │ │ │ │ │ │ ├── sawyer_door_lock_v2.py │ │ │ │ │ │ ├── sawyer_door_unlock_v2.py │ │ │ │ │ │ ├── sawyer_door_v2.py │ │ │ │ │ │ ├── sawyer_drawer_close_v2.py │ │ │ │ │ │ ├── sawyer_drawer_open_v2.py │ │ │ │ │ │ ├── sawyer_drawer_with_bin_v2.py │ │ │ │ │ │ ├── sawyer_faucet_close_v2.py │ │ │ │ │ │ ├── sawyer_faucet_open_v2.py │ │ │ │ │ │ ├── sawyer_hammer_v2.py │ │ │ │ │ │ ├── sawyer_hand_insert_v2.py │ │ │ │ │ │ ├── sawyer_handle_press_side_v2.py │ │ │ │ │ │ ├── sawyer_handle_press_v2.py │ │ │ │ │ │ ├── sawyer_handle_pull_side_v2.py │ │ │ │ │ │ ├── sawyer_handle_pull_v2.py │ │ │ │ │ │ ├── sawyer_lever_pull_v2.py │ │ │ │ │ │ ├── sawyer_peg_insertion_side_v2.py │ │ │ │ │ │ ├── sawyer_peg_unplug_side_v2.py │ │ │ │ │ │ ├── sawyer_pick_out_of_hole_v2.py │ │ │ │ │ │ ├── sawyer_pick_place_v2.py │ │ │ │ │ │ ├── sawyer_pick_place_wall_v2.py │ │ │ │ │ │ ├── sawyer_plate_slide_back_side_v2.py │ │ │ │ │ │ ├── sawyer_plate_slide_back_v2.py │ │ │ │ │ │ ├── sawyer_plate_slide_side_v2.py │ │ │ │ │ │ ├── sawyer_plate_slide_v2.py │ │ │ │ │ │ ├── sawyer_push_back_v2.py │ │ │ │ │ │ ├── sawyer_push_v2.py │ │ │ │ │ │ ├── sawyer_push_wall_v2.py │ │ │ │ │ │ ├── sawyer_reach_v2.py │ │ │ │ │ │ ├── sawyer_reach_wall_v2.py │ │ │ │ │ │ ├── sawyer_shelf_place_v2.py │ │ │ │ │ │ ├── sawyer_soccer_v2.py │ │ │ │ │ │ ├── sawyer_stick_pull_v2.py │ │ │ │ │ │ ├── sawyer_stick_push_v2.py │ │ │ │ │ │ ├── sawyer_sweep_into_goal_v2.py │ │ │ │ │ │ ├── sawyer_sweep_v2.py │ │ │ │ │ │ ├── sawyer_window_close_v2.py │ │ │ │ │ │ └── sawyer_window_open_v2.py │ │ │ │ │ └── visual │ │ │ │ │ │ └── __init__.py │ │ │ │ └── utils │ │ │ │ │ └── rotation.py │ │ │ └── reward_utils.py │ │ └── policies │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-39.pyc │ │ │ ├── action.cpython-310.pyc │ │ │ ├── action.cpython-39.pyc │ │ │ ├── policy.cpython-310.pyc │ │ │ ├── policy.cpython-39.pyc │ │ │ ├── sawyer_assembly_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_assembly_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_assembly_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_assembly_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_basketball_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_basketball_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_basketball_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_basketball_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_bin_picking_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_bin_picking_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_box_close_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_box_close_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_box_close_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_box_close_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_button_press_topdown_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_button_press_topdown_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_button_press_topdown_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_button_press_topdown_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_button_press_topdown_wall_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_button_press_topdown_wall_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_button_press_topdown_wall_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_button_press_topdown_wall_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_button_press_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_button_press_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_button_press_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_button_press_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_button_press_wall_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_button_press_wall_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_button_press_wall_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_button_press_wall_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_coffee_button_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_coffee_button_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_coffee_button_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_coffee_button_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_coffee_pull_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_coffee_pull_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_coffee_pull_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_coffee_pull_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_coffee_push_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_coffee_push_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_coffee_push_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_coffee_push_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_dial_turn_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_dial_turn_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_dial_turn_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_dial_turn_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_disassemble_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_disassemble_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_disassemble_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_disassemble_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_door_close_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_door_close_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_door_close_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_door_close_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_door_lock_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_door_lock_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_door_lock_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_door_lock_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_door_open_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_door_open_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_door_open_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_door_open_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_door_unlock_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_door_unlock_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_door_unlock_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_door_unlock_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_drawer_close_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_drawer_close_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_drawer_close_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_drawer_close_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_drawer_open_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_drawer_open_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_drawer_open_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_drawer_open_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_drawer_with_bin_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_drawer_with_bin_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_faucet_close_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_faucet_close_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_faucet_close_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_faucet_close_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_faucet_open_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_faucet_open_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_faucet_open_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_faucet_open_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_hammer_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_hammer_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_hammer_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_hammer_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_hand_insert_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_hand_insert_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_hand_insert_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_hand_insert_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_handle_press_side_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_handle_press_side_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_handle_press_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_handle_press_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_handle_press_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_handle_press_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_handle_pull_side_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_handle_pull_side_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_handle_pull_side_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_handle_pull_side_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_handle_pull_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_handle_pull_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_handle_pull_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_handle_pull_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_lever_pull_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_lever_pull_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_peg_insertion_side_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_peg_insertion_side_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_peg_unplug_side_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_peg_unplug_side_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_peg_unplug_side_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_peg_unplug_side_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_pick_out_of_hole_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_pick_out_of_hole_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_pick_out_of_hole_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_pick_out_of_hole_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_pick_place_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_pick_place_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_pick_place_wall_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_pick_place_wall_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_plate_slide_back_side_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_plate_slide_back_side_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_plate_slide_back_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_plate_slide_back_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_plate_slide_back_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_plate_slide_back_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_plate_slide_side_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_plate_slide_side_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_plate_slide_side_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_plate_slide_side_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_plate_slide_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_plate_slide_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_plate_slide_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_plate_slide_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_push_back_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_push_back_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_push_back_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_push_back_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_push_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_push_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_push_wall_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_push_wall_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_reach_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_reach_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_reach_wall_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_reach_wall_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_shelf_place_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_shelf_place_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_shelf_place_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_shelf_place_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_soccer_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_soccer_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_soccer_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_soccer_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_stick_pull_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_stick_pull_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_stick_pull_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_stick_pull_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_stick_push_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_stick_push_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_stick_push_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_stick_push_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_sweep_into_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_sweep_into_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_sweep_into_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_sweep_into_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_sweep_v1_policy.cpython-310.pyc │ │ │ ├── sawyer_sweep_v1_policy.cpython-39.pyc │ │ │ ├── sawyer_sweep_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_sweep_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_window_close_v2_policy.cpython-310.pyc │ │ │ ├── sawyer_window_close_v2_policy.cpython-39.pyc │ │ │ ├── sawyer_window_open_v2_policy.cpython-310.pyc │ │ │ └── sawyer_window_open_v2_policy.cpython-39.pyc │ │ │ ├── action.py │ │ │ ├── policy.py │ │ │ ├── sawyer_assembly_v1_policy.py │ │ │ ├── sawyer_assembly_v2_policy.py │ │ │ ├── sawyer_basketball_v1_policy.py │ │ │ ├── sawyer_basketball_v2_policy.py │ │ │ ├── sawyer_bin_picking_v2_policy.py │ │ │ ├── sawyer_box_close_v1_policy.py │ │ │ ├── sawyer_box_close_v2_policy.py │ │ │ ├── sawyer_button_press_topdown_v1_policy.py │ │ │ ├── sawyer_button_press_topdown_v2_policy.py │ │ │ ├── sawyer_button_press_topdown_wall_v1_policy.py │ │ │ ├── sawyer_button_press_topdown_wall_v2_policy.py │ │ │ ├── sawyer_button_press_v1_policy.py │ │ │ ├── sawyer_button_press_v2_policy.py │ │ │ ├── sawyer_button_press_wall_v1_policy.py │ │ │ ├── sawyer_button_press_wall_v2_policy.py │ │ │ ├── sawyer_coffee_button_v1_policy.py │ │ │ ├── sawyer_coffee_button_v2_policy.py │ │ │ ├── sawyer_coffee_pull_v1_policy.py │ │ │ ├── sawyer_coffee_pull_v2_policy.py │ │ │ ├── sawyer_coffee_push_v1_policy.py │ │ │ ├── sawyer_coffee_push_v2_policy.py │ │ │ ├── sawyer_dial_turn_v1_policy.py │ │ │ ├── sawyer_dial_turn_v2_policy.py │ │ │ ├── sawyer_disassemble_v1_policy.py │ │ │ ├── sawyer_disassemble_v2_policy.py │ │ │ ├── sawyer_door_close_v1_policy.py │ │ │ ├── sawyer_door_close_v2_policy.py │ │ │ ├── sawyer_door_lock_v1_policy.py │ │ │ ├── sawyer_door_lock_v2_policy.py │ │ │ ├── sawyer_door_open_v1_policy.py │ │ │ ├── sawyer_door_open_v2_policy.py │ │ │ ├── sawyer_door_unlock_v1_policy.py │ │ │ ├── sawyer_door_unlock_v2_policy.py │ │ │ ├── sawyer_drawer_close_v1_policy.py │ │ │ ├── sawyer_drawer_close_v2_policy.py │ │ │ ├── sawyer_drawer_open_v1_policy.py │ │ │ ├── sawyer_drawer_open_v2_policy.py │ │ │ ├── sawyer_drawer_with_bin_v2_policy.py │ │ │ ├── sawyer_faucet_close_v1_policy.py │ │ │ ├── sawyer_faucet_close_v2_policy.py │ │ │ ├── sawyer_faucet_open_v1_policy.py │ │ │ ├── sawyer_faucet_open_v2_policy.py │ │ │ ├── sawyer_hammer_v1_policy.py │ │ │ ├── sawyer_hammer_v2_policy.py │ │ │ ├── sawyer_hand_insert_v1_policy.py │ │ │ ├── sawyer_hand_insert_v2_policy.py │ │ │ ├── sawyer_handle_press_side_v2_policy.py │ │ │ ├── sawyer_handle_press_v1_policy.py │ │ │ ├── sawyer_handle_press_v2_policy.py │ │ │ ├── sawyer_handle_pull_side_v1_policy.py │ │ │ ├── sawyer_handle_pull_side_v2_policy.py │ │ │ ├── sawyer_handle_pull_v1_policy.py │ │ │ ├── sawyer_handle_pull_v2_policy.py │ │ │ ├── sawyer_lever_pull_v2_policy.py │ │ │ ├── sawyer_peg_insertion_side_v2_policy.py │ │ │ ├── sawyer_peg_unplug_side_v1_policy.py │ │ │ ├── sawyer_peg_unplug_side_v2_policy.py │ │ │ ├── sawyer_pick_out_of_hole_v1_policy.py │ │ │ ├── sawyer_pick_out_of_hole_v2_policy.py │ │ │ ├── sawyer_pick_place_v2_policy.py │ │ │ ├── sawyer_pick_place_wall_v2_policy.py │ │ │ ├── sawyer_plate_slide_back_side_v2_policy.py │ │ │ ├── sawyer_plate_slide_back_v1_policy.py │ │ │ ├── sawyer_plate_slide_back_v2_policy.py │ │ │ ├── sawyer_plate_slide_side_v1_policy.py │ │ │ ├── sawyer_plate_slide_side_v2_policy.py │ │ │ ├── sawyer_plate_slide_v1_policy.py │ │ │ ├── sawyer_plate_slide_v2_policy.py │ │ │ ├── sawyer_push_back_v1_policy.py │ │ │ ├── sawyer_push_back_v2_policy.py │ │ │ ├── sawyer_push_v2_policy.py │ │ │ ├── sawyer_push_wall_v2_policy.py │ │ │ ├── sawyer_reach_v2_policy.py │ │ │ ├── sawyer_reach_wall_v2_policy.py │ │ │ ├── sawyer_shelf_place_v1_policy.py │ │ │ ├── sawyer_shelf_place_v2_policy.py │ │ │ ├── sawyer_soccer_v1_policy.py │ │ │ ├── sawyer_soccer_v2_policy.py │ │ │ ├── sawyer_stick_pull_v1_policy.py │ │ │ ├── sawyer_stick_pull_v2_policy.py │ │ │ ├── sawyer_stick_push_v1_policy.py │ │ │ ├── sawyer_stick_push_v2_policy.py │ │ │ ├── sawyer_sweep_into_v1_policy.py │ │ │ ├── sawyer_sweep_into_v2_policy.py │ │ │ ├── sawyer_sweep_v1_policy.py │ │ │ ├── sawyer_sweep_v2_policy.py │ │ │ ├── sawyer_window_close_v2_policy.py │ │ │ └── sawyer_window_open_v2_policy.py │ ├── scripts │ │ ├── demo_sawyer.py │ │ ├── grasp.py │ │ ├── keyboard_control.py │ │ ├── mouse_control.py │ │ ├── plot_rewards_returns.ipynb │ │ ├── plot_rewards_returns_noise_3D.ipynb │ │ ├── profile_memory_usage.py │ │ └── scripted_policy_movies.ipynb │ ├── setup.cfg │ ├── setup.py │ └── tests │ │ ├── __init__.py │ │ ├── helpers.py │ │ ├── integration │ │ ├── __init__.py │ │ ├── test_memory_usage.py │ │ ├── test_new_api.py │ │ └── test_single_goal_envs.py │ │ └── metaworld │ │ ├── __init__.py │ │ └── envs │ │ ├── __init__.py │ │ └── mujoco │ │ ├── __init__.py │ │ └── sawyer_xyz │ │ ├── __init__.py │ │ ├── test_obs_space_hand.py │ │ ├── test_sawyer_xyz_env.py │ │ ├── test_scripted_policies.py │ │ ├── test_seeded_rand_vec.py │ │ └── utils.py └── requirements.txt ├── omnigibson_experiment ├── main_omnigibson.py ├── og_environment.py └── og_utils.py ├── path_solver.py ├── requirements.txt ├── segm_prompts ├── prompt0 │ ├── obj_description.txt │ └── prompt.txt └── prompt1 │ ├── obj_description.txt │ └── prompt.txt ├── subgoal_solver.py ├── test ├── transform_utils.py ├── utils.py ├── visualizer.py └── vlm_query ├── assembly_corner2_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-stick.txt ├── program_segm_the-body-of-the-round-ring.txt ├── program_segm_the-handle-of-the-green-handle.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── assembly_corner2_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-stick.txt ├── program_segm_the-body-of-the-round-ring.txt ├── program_segm_the-handle-of-the-green-handle.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt └── stage_3_subgoal_constraints.txt ├── assembly_corner2_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-stick.txt ├── program_segm_the-body-of-the-round-ring.txt ├── program_segm_the-handle-of-the-green-handle.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── assembly_corner2_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-outer-surface-of-the-red-stick-of-the-red-object.txt ├── program_segm_the-round-ring-of-the-green-object.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── assembly_corner2_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-stick.txt ├── program_segm_the-handle-of-the-green-object.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt └── stage_3_subgoal_constraints.txt ├── assembly_corner3_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-round-ring.txt ├── program_segm_the-handle-of-the-green-handle.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── assembly_corner_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-stick.txt ├── program_segm_the-body-of-the-round-ring.txt ├── program_segm_the-handle-of-the-green-handle.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt └── stage_4_subgoal_constraints.txt ├── assembly_corner_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-handle-of-the-green-handle.txt ├── program_segm_the-red-stick-of-the-red-stick.txt ├── program_segm_the-round-ring-of-the-round-ring.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt └── stage_3_subgoal_constraints.txt ├── assembly_corner_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-green-handle-of-the-round-ring.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── assembly_corner_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-handle-of-the-green-handle.txt ├── program_segm_the-ring-of-the-round-ring.txt ├── program_segm_the-stick-of-the-red-stick.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── assembly_corner_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-handle-of-the-green-handle.txt ├── program_segm_the-red-stick-of-the-red-stick.txt ├── program_segm_the-round-ring-of-the-round-ring.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── basketball_corner2_0 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner2_1 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner2_2 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner2_3 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner2_4 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt └── stage_4_subgoal_constraints.txt ├── basketball_corner3_0 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner3_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt └── stage_4_subgoal_constraints.txt ├── basketball_corner3_2 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner3_3 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner3_4 └── prompt.txt ├── basketball_corner_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-opening-of-the-red-hoop.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-body-of-the-red-hoop.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── basketball_corner_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner_3 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── basketball_corner_4 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-basketball.txt ├── program_segm_the-hoop-of-the-basketball-hoop.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt ├── bin-picking_corner_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_corner2_3 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── program_segm_the-button-of-the-red-button.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_target_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_corner3_0 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-button.txt ├── program_segm_the-button-of-the-button.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_target_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_corner3_1 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-button.txt ├── program_segm_the-surface-of-the-button.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_target_constraints.txt └── stage_3_constraints.txt ├── button_corner3_2 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-button.txt ├── program_segm_the-surface-of-the-button.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_target_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_corner3_3 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-button.txt ├── program_segm_the-surface-of-the-button.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_target_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_corner3_4 └── prompt.txt ├── button_corner_0 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── program_segm_the-button-of-the-red-button.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_target_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_corner_1 ├── metadata.json ├── output_raw.txt ├── program_segm_the-red-button-of-the-button.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_target_constraints.txt ├── stage_4_path_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_corner_2 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-button.txt ├── program_segm_the-surface-of-the-button.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_target_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_corner_3 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── program_segm_the-button-of-the-red-button.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_target_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner2_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner2_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner2_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner2_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner2_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_flow_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner3_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner3_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner3_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner3_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner3_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_side_corner_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt └── stage_3_subgoal_constraints.txt ├── button_press_topdown_corner2_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner2_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner2_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner2_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner2_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner3_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner3_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner3_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner3_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner3_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── button_press_topdown_corner_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-red-button.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── faucet_on_corner2_0 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-red-faucet.txt ├── program_segm_the-handle-of-the-red-faucet.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_target_constraints.txt └── stage_3_subgoal_constraints.txt ├── faucet_on_corner2_3 └── prompt.txt ├── faucet_on_corner3_2 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-red-faucet.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_target_constraints.txt └── stage_3_subgoal_constraints.txt ├── faucet_on_corner_1 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-red-faucet-at-its-initial-timestamp.txt ├── program_segm_the-body-of-the-red-faucet.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_target_constraints.txt └── stage_3_subgoal_constraints.txt ├── faucet_on_corner_2 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-red-faucet.txt ├── program_segm_the-handle-of-the-red-faucet.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_2_target_constraints.txt └── stage_3_subgoal_constraints.txt ├── faucet_on_corner_3 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-red-faucet.txt ├── program_segm_the-handle-of-the-red-faucet.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_target_constraints.txt └── stage_3_subgoal_constraints.txt ├── faucet_on_corner_4 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-red-faucet.txt ├── program_segm_the-handle-of-the-red-faucet.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_target_constraints.txt └── stage_3_subgoal_constraints.txt ├── geometry_constraints_prompt.txt ├── geometry_knowledge.txt ├── hammer_corner_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-handle-of-the-hammer.txt ├── program_segm_the-head-of-the-nail.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── handle_corner3_2 ├── metadata.json ├── output_raw.txt ├── program_segm_the-handle-of-the-red-handle-at-its-initial-timestamp.txt ├── program_segm_the-handle-of-the-red-handle.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_target_constraints.txt └── stage_3_subgoal_constraints.txt ├── handle_press_corner_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-handle-of-the-red-handle.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── handle_press_corner_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-handle-of-the-red-handle.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── open_safe_boxs ├── metadata.json ├── output_raw.txt ├── program_segm_the-door-of-the-safe-box.txt ├── program_segm_the-door-of-the-safe.txt ├── program_segm_the-handle-of-the-safe-box.txt ├── program_segm_the-handle-of-the-safe-door.txt ├── program_segm_the-handle-of-the-safe.txt ├── program_segm_the-hinge-of-the-safe-box.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_target_constraints.txt └── stage_3_subgoal_constraints.txt ├── open_safe_boxs_corner_1 ├── metadata.json ├── output_raw.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt └── stage_2_target_constraints.txt ├── part_knowledge.txt ├── prompt_template.txt ├── shelf-place_corner2_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner2_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner2_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner2_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner2_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner3_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner3_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner3_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_flow_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner3_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_flow_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner3_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner_0 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner_1 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner_2 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner_3 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner_4 ├── metadata.json ├── output_constraints.txt ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-shelf-surface-of-the-shelf.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt └── stage_3_subgoal_constraints.txt ├── shelf-place_corner_front_0 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-middle-stack-of-the-shelf.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── shelf-place_corner_front_1 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-middle-stack-of-the-shelf.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── shelf-place_corner_front_2 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-middle-stack-of-the-shelf.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt ├── shelf-place_corner_front_3 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-body-of-the-red-box.txt ├── program_segm_the-middle-stack-of-the-shelf.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_target_constraints.txt ├── stage_3_subgoal_constraints.txt ├── stage_4_path_constraints.txt ├── stage_4_subgoal_constraints.txt └── stage_5_subgoal_constraints.txt └── shelf-place_corner_front_4 ├── metadata.json ├── output_raw.txt ├── program_segm_the-body-of-the-blue-cube.txt ├── program_segm_the-middle-stack-of-the-shelf.txt ├── program_segm_the-surface-of-the-table.txt ├── prompt.txt ├── stage_1_subgoal_constraints.txt ├── stage_2_path_constraints.txt ├── stage_2_subgoal_constraints.txt ├── stage_3_path_constraints.txt ├── stage_3_subgoal_constraints.txt └── stage_4_subgoal_constraints.txt /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CUHKWilliam/GeoManip-release/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | Project code under refactoring. 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