├── asset ├── .DS_Store ├── logo_wide.png └── picor_framework.png ├── source ├── agent │ └── __init__.py ├── rlkit │ └── envs │ │ ├── wrappers │ │ └── __init__.py │ │ └── proxy_env.py └── config │ └── picor.yaml ├── scripts └── run.sh ├── libs ├── custom_dmcontrol │ ├── dm_control │ │ ├── locomotion │ │ │ ├── gaps.png │ │ │ ├── walls.png │ │ │ ├── soccer │ │ │ │ ├── soccer.png │ │ │ │ ├── assets │ │ │ │ │ ├── pitch │ │ │ │ │ │ ├── pitch_l.png │ │ │ │ │ │ ├── pitch_m.png │ │ │ │ │ │ ├── pitch_s.png │ │ │ │ │ │ ├── pitch_xs.png │ │ │ │ │ │ ├── pitch_nologo_l.png │ │ │ │ │ │ ├── pitch_nologo_m.png │ │ │ │ │ │ ├── pitch_nologo_s.png │ │ │ │ │ │ └── pitch_nologo_xs.png │ │ │ │ │ ├── soccer_ball │ │ │ │ │ │ ├── back.png │ │ │ │ │ │ ├── down.png │ │ │ │ │ │ ├── left.png │ │ │ │ │ │ ├── up.png │ │ │ │ │ │ ├── front.png │ │ │ │ │ │ └── right.png │ │ │ │ │ └── boxhead │ │ │ │ │ │ └── digits │ │ │ │ │ │ ├── 00.png │ │ │ │ │ │ ├── 01.png │ │ │ │ │ │ ├── 02.png │ │ │ │ │ │ ├── 03.png │ │ │ │ │ │ ├── 04.png │ │ │ │ │ │ ├── 05.png │ │ │ │ │ │ ├── 06.png │ │ │ │ │ │ ├── 07.png │ │ │ │ │ │ ├── 08.png │ │ │ │ │ │ ├── 09.png │ │ │ │ │ │ └── 10.png │ │ │ │ ├── team.py │ │ │ │ └── explore.py │ │ │ ├── mocap │ │ │ │ ├── test_trajectories.h5 │ │ │ │ └── __init__.py │ │ │ ├── walkers │ │ │ │ ├── assets │ │ │ │ │ ├── rodent_walker_skin.skn │ │ │ │ │ └── jumping_ball │ │ │ │ │ │ └── jumping_ball_body.png │ │ │ │ └── __init__.py │ │ │ ├── arenas │ │ │ │ ├── assets │ │ │ │ │ └── outdoor_natural │ │ │ │ │ │ ├── OutdoorSkybox2048.png │ │ │ │ │ │ └── OutdoorGrassFloorD.png │ │ │ │ ├── bowl_test.py │ │ │ │ └── __init__.py │ │ │ ├── __init__.py │ │ │ ├── tasks │ │ │ │ ├── reference_pose │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── datasets.py │ │ │ │ └── __init__.py │ │ │ ├── props │ │ │ │ └── __init__.py │ │ │ └── examples │ │ │ │ ├── __init__.py │ │ │ │ └── explore.py │ │ ├── suite │ │ │ ├── all_domains.png │ │ │ ├── dog_assets │ │ │ │ ├── BONEC_1.stl │ │ │ │ ├── BONEC_2.stl │ │ │ │ ├── BONEC_3.stl │ │ │ │ ├── BONEC_4.stl │ │ │ │ ├── BONEC_5.stl │ │ │ │ ├── BONEC_6.stl │ │ │ │ ├── BONEC_7.stl │ │ │ │ ├── BONECa_1.stl │ │ │ │ ├── BONECa_10.stl │ │ │ │ ├── BONECa_11.stl │ │ │ │ ├── BONECa_12.stl │ │ │ │ ├── BONECa_13.stl │ │ │ │ ├── BONECa_14.stl │ │ │ │ ├── BONECa_15.stl │ │ │ │ ├── BONECa_16.stl │ │ │ │ ├── BONECa_17.stl │ │ │ │ ├── BONECa_18.stl │ │ │ │ ├── BONECa_19.stl │ │ │ │ ├── BONECa_2.stl │ │ │ │ ├── BONECa_20.stl │ │ │ │ ├── BONECa_21.stl │ │ │ │ ├── BONECa_3.stl │ │ │ │ ├── BONECa_4.stl │ │ │ │ ├── BONECa_5.stl │ │ │ │ ├── BONECa_6.stl │ │ │ │ ├── BONECa_7.stl │ │ │ │ ├── BONECa_8.stl │ │ │ │ ├── BONECa_9.stl │ │ │ │ ├── BONEJaw.stl │ │ │ │ ├── BONEL_1.stl │ │ │ │ ├── BONEL_2.stl │ │ │ │ ├── BONEL_3.stl │ │ │ │ ├── BONEL_4.stl │ │ │ │ ├── BONEL_5.stl │ │ │ │ ├── BONEL_6.stl │ │ │ │ ├── BONEL_7.stl │ │ │ │ ├── BONEeye_L.stl │ │ │ │ ├── BONEeye_R.stl │ │ │ │ ├── SKINbody.stl │ │ │ │ ├── dog_skin.msh │ │ │ │ ├── dog_skin.skn │ │ │ │ ├── BONEPelvis.stl │ │ │ │ ├── BONERibcage.stl │ │ │ │ ├── BONESacrum.stl │ │ │ │ ├── BONETibia_L.stl │ │ │ │ ├── BONETibia_R.stl │ │ │ │ ├── BONEUlna_L.stl │ │ │ │ ├── BONEUlna_R.stl │ │ │ │ ├── tennis_ball.png │ │ │ │ ├── BONECarpal_I_L.stl │ │ │ │ ├── BONECarpal_I_R.stl │ │ │ │ ├── BONECarpal_L.stl │ │ │ │ ├── BONECarpal_R.stl │ │ │ │ ├── BONEFemoris_L.stl │ │ │ │ ├── BONEFemoris_R.stl │ │ │ │ ├── BONEFibula_L.stl │ │ │ │ ├── BONEFibula_R.stl │ │ │ │ ├── BONEPatella_L.stl │ │ │ │ ├── BONEPatella_R.stl │ │ │ │ ├── BONERadius_L.stl │ │ │ │ ├── BONERadius_R.stl │ │ │ │ ├── BONEScapula_L.stl │ │ │ │ ├── BONEScapula_R.stl │ │ │ │ ├── BONETarsus_L_I.stl │ │ │ │ ├── BONETarsus_R_I.stl │ │ │ │ ├── BONEhumerus_L.stl │ │ │ │ ├── BONEhumerus_R.stl │ │ │ │ ├── skin_texture.png │ │ │ │ ├── BONECarpal_III_L.stl │ │ │ │ ├── BONECarpal_III_R.stl │ │ │ │ ├── BONECarpal_II_L.stl │ │ │ │ ├── BONECarpal_II_R.stl │ │ │ │ ├── BONECarpal_IV_L.stl │ │ │ │ ├── BONECarpal_IV_R.stl │ │ │ │ ├── BONEMergedSkull.stl │ │ │ │ ├── BONETarsus_L_II.stl │ │ │ │ ├── BONETarsus_L_III.stl │ │ │ │ ├── BONETarsus_L_IV.stl │ │ │ │ ├── BONETarsus_R_II.stl │ │ │ │ ├── BONETarsus_R_III.stl │ │ │ │ ├── BONETarsus_R_IV.stl │ │ │ │ ├── BONECarpal_ulnar_L.stl │ │ │ │ ├── BONECarpal_ulnar_R.stl │ │ │ │ ├── BONELingual_bone_1.stl │ │ │ │ ├── BONELingual_bone_2.stl │ │ │ │ ├── BONELingual_bone_3.stl │ │ │ │ ├── BONELingual_bone_4.stl │ │ │ │ ├── BONELingual_bone_5.stl │ │ │ │ ├── BONELingual_bone_6.stl │ │ │ │ ├── BONELingual_bone_7.stl │ │ │ │ ├── BONELingual_bone_8.stl │ │ │ │ ├── BONELingual_bone_9.stl │ │ │ │ ├── BONEMetatarsi_L_1.stl │ │ │ │ ├── BONEMetatarsi_L_2.stl │ │ │ │ ├── BONEMetatarsi_L_3.stl │ │ │ │ ├── BONEMetatarsi_L_4.stl │ │ │ │ ├── BONEMetatarsi_R_1.stl │ │ │ │ ├── BONEMetatarsi_R_2.stl │ │ │ │ ├── BONEMetatarsi_R_3.stl │ │ │ │ ├── BONEMetatarsi_R_4.stl │ │ │ │ ├── BONEPhalanges_B_L_1.stl │ │ │ │ ├── BONEPhalanges_B_L_2.stl │ │ │ │ ├── BONEPhalanges_B_L_3.stl │ │ │ │ ├── BONEPhalanges_B_L_4.stl │ │ │ │ ├── BONEPhalanges_B_R_1.stl │ │ │ │ ├── BONEPhalanges_B_R_2.stl │ │ │ │ ├── BONEPhalanges_B_R_3.stl │ │ │ │ ├── BONEPhalanges_B_R_4.stl │ │ │ │ ├── BONETibial_tarsal_L.stl │ │ │ │ ├── BONETibial_tarsal_R.stl │ │ │ │ ├── BONECalcaneal_tuber_L.stl │ │ │ │ ├── BONECalcaneal_tuber_R.stl │ │ │ │ ├── BONECarpal_Sesamoid_L.stl │ │ │ │ ├── BONECarpal_Sesamoid_R.stl │ │ │ │ ├── BONEPhalanges_B_2_L_1.stl │ │ │ │ ├── BONEPhalanges_B_2_L_2.stl │ │ │ │ ├── BONEPhalanges_B_2_L_3.stl │ │ │ │ ├── BONEPhalanges_B_2_L_4.stl │ │ │ │ ├── BONEPhalanges_B_2_R_1.stl │ │ │ │ ├── BONEPhalanges_B_2_R_2.stl │ │ │ │ ├── BONEPhalanges_B_2_R_3.stl │ │ │ │ ├── BONEPhalanges_B_2_R_4.stl │ │ │ │ ├── BONEPhalanges_B_3_L_1.stl │ │ │ │ ├── BONEPhalanges_B_3_L_2.stl │ │ │ │ ├── BONEPhalanges_B_3_L_3.stl │ │ │ │ ├── BONEPhalanges_B_3_L_4.stl │ │ │ │ ├── BONEPhalanges_B_3_R_1.stl │ │ │ │ ├── BONEPhalanges_B_3_R_2.stl │ │ │ │ ├── BONEPhalanges_B_3_R_3.stl │ │ │ │ ├── BONEPhalanges_B_3_R_4.stl │ │ │ │ ├── BONETarsus_central_L.stl │ │ │ │ ├── BONETarsus_central_R.stl │ │ │ │ ├── BONECarpal_accessory_L.stl │ │ │ │ ├── BONECarpal_accessory_R.stl │ │ │ │ ├── BONEFemoris_fabellae_L_1.stl │ │ │ │ ├── BONEFemoris_fabellae_L_2.stl │ │ │ │ ├── BONEFemoris_fabellae_R_1.stl │ │ │ │ ├── BONEFemoris_fabellae_R_2.stl │ │ │ │ ├── BONEOs_metacarpale_III_L.stl │ │ │ │ ├── BONEOs_metacarpale_III_R.stl │ │ │ │ ├── BONEOs_metacarpale_II_L.stl │ │ │ │ ├── BONEOs_metacarpale_II_R.stl │ │ │ │ ├── BONEOs_metacarpale_IV_L.stl │ │ │ │ ├── BONEOs_metacarpale_IV_R.stl │ │ │ │ ├── BONEOs_metacarpale_I_L.stl │ │ │ │ ├── BONEOs_metacarpale_I_R.stl │ │ │ │ ├── BONEOs_metacarpale_V_L.stl │ │ │ │ ├── BONEOs_metacarpale_V_R.stl │ │ │ │ ├── BONEOs_metacarpale_V_L.001.stl │ │ │ │ ├── BONEOs_metacarpale_V_R.001.stl │ │ │ │ ├── BONEPhalanx_media_digiti_II_L.stl │ │ │ │ ├── BONEPhalanx_media_digiti_II_R.stl │ │ │ │ ├── BONEPhalanx_media_digiti_IV_L.stl │ │ │ │ ├── BONEPhalanx_media_digiti_IV_R.stl │ │ │ │ ├── BONEPhalanx_media_digiti_V_L.stl │ │ │ │ ├── BONEPhalanx_media_digiti_V_R.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_I_L.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_I_R.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_V_L.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_V_R.stl │ │ │ │ ├── BONEPhalanx_media_digiti_III_L.stl │ │ │ │ ├── BONEPhalanx_media_digiti_III_R.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_III_L.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_III_R.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_II_L.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_II_R.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_IV_L.stl │ │ │ │ ├── BONEPhalanx_distalis_digiti_IV_R.stl │ │ │ │ ├── BONEPhalanxpmxinutlis_digiti_III_R.stl │ │ │ │ ├── BONEPhalanxpmxinutlis_digiti_II_L.stl │ │ │ │ ├── BONEPhalanxpmxinutlis_digiti_II_R.stl │ │ │ │ ├── BONEPhalanxpmxinutlis_digiti_IV_L_.stl │ │ │ │ ├── BONEPhalanxpmxinutlis_digiti_IV_R.stl │ │ │ │ ├── BONEPhalanxpmxinutlis_digiti_V_L.stl │ │ │ │ ├── BONEPhalanxpmxinutlis_digiti_V_R.stl │ │ │ │ └── BONEPhalanxpmxinutlis_digiti_III_L_.stl │ │ │ ├── common │ │ │ │ ├── visual.xml │ │ │ │ ├── skybox.xml │ │ │ │ ├── materials.xml │ │ │ │ └── __init__.py │ │ │ ├── utils │ │ │ │ └── __init__.py │ │ │ ├── wrappers │ │ │ │ └── __init__.py │ │ │ ├── lqr.xml │ │ │ └── pendulum.xml │ │ ├── mujoco │ │ │ ├── testing │ │ │ │ ├── assets │ │ │ │ │ ├── cube.stl │ │ │ │ │ ├── deepmind.png │ │ │ │ │ ├── sphere.xml │ │ │ │ │ ├── frames │ │ │ │ │ │ ├── cartpole_seed_0_camera_0_320x240_hardware │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── cartpole_seed_0_camera_0_320x240_software │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_hardware │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_software │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── humanoid_seed_0_camera_head_track_64x64_hardware │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── humanoid_seed_0_camera_head_track_64x64_software │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_hardware_reflection_False_shadow_False │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ └── humanoid_seed_0_camera_0_240x320_software_reflection_False_shadow_False │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── model_incorrect_actuator_order.xml │ │ │ │ │ ├── model_with_assets.xml │ │ │ │ │ ├── model_with_third_order_actuators.xml │ │ │ │ │ ├── model_with_ball_joints.xml │ │ │ │ │ └── __init__.py │ │ │ │ ├── __init__.py │ │ │ │ └── generate_frames.py │ │ │ └── __init__.py │ │ ├── mjcf │ │ │ ├── test_assets │ │ │ │ ├── meshes │ │ │ │ │ ├── cube.msh │ │ │ │ │ ├── cube.stl │ │ │ │ │ └── more_meshes │ │ │ │ │ │ └── cube.stl │ │ │ │ ├── skins │ │ │ │ │ └── test_skin.skn │ │ │ │ ├── textures │ │ │ │ │ └── deepmind.png │ │ │ │ ├── included.xml │ │ │ │ ├── included_with_invalid_filenames.xml │ │ │ │ ├── model_with_include.xml │ │ │ │ ├── model_with_invalid_filenames.xml │ │ │ │ ├── model_with_nameless_assets.xml │ │ │ │ ├── model_with_assets.xml │ │ │ │ └── test_model.xml │ │ │ ├── base.py │ │ │ └── skin_test.py │ │ ├── third_party │ │ │ └── kinova │ │ │ │ ├── meshes_decimated │ │ │ │ ├── arm.stl │ │ │ │ ├── base.stl │ │ │ │ ├── wrist.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── hand_3finger.stl │ │ │ │ ├── finger_distal.stl │ │ │ │ ├── finger_proximal.stl │ │ │ │ ├── hand_3finger_main.stl │ │ │ │ └── hand_3finger_insert.stl │ │ │ │ └── common.xml │ │ ├── composer │ │ │ ├── arena.xml │ │ │ ├── constants.py │ │ │ ├── initializers │ │ │ │ └── __init__.py │ │ │ ├── initializer.py │ │ │ ├── observation │ │ │ │ ├── __init__.py │ │ │ │ └── observable │ │ │ │ │ └── __init__.py │ │ │ └── robot.py │ │ ├── __init__.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ └── io.py │ │ ├── entities │ │ │ ├── __init__.py │ │ │ ├── manipulators │ │ │ │ ├── __init__.py │ │ │ │ └── kinova │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── assets_path.py │ │ │ └── props │ │ │ │ └── __init__.py │ │ ├── _render │ │ │ ├── pyopengl │ │ │ │ └── __init__.py │ │ │ └── constants.py │ │ ├── autowrap │ │ │ └── __init__.py │ │ ├── manipulation │ │ │ └── shared │ │ │ │ ├── __init__.py │ │ │ │ ├── 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-------------------------------------------------------------------------------- /libs/custom_dmcontrol/AUTHORS: -------------------------------------------------------------------------------- 1 | # This is the list of dm_control authors for copyright purposes. 2 | # 3 | # This does not necessarily list everyone who has contributed code, since in 4 | # some cases, their employer may be the copyright holder. To see the full list 5 | # of contributors, see the revision history in source control. 6 | 7 | DeepMind Technologies 8 | -------------------------------------------------------------------------------- /source/rlkit/envs/wrappers/__init__.py: -------------------------------------------------------------------------------- 1 | from rlkit.envs.proxy_env import ProxyEnv 2 | from rlkit.envs.wrappers.normalized_box_env import NormalizedBoxEnv, NormalizedBoxEnv_v2 3 | from rlkit.envs.wrappers.task_onehot_env import TaskOnehotWrapper 4 | 5 | __all__ = [ 6 | "NormalizedBoxEnv", 7 | "NormalizedBoxEnv_v2" "TaskOnehotWrapper" "ProxyEnv", 8 | ] 9 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mjcf/test_assets/included_with_invalid_filenames.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mjcf/test_assets/model_with_include.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mjcf/test_assets/model_with_invalid_filenames.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /libs/custom_dmc2gym/setup.py: -------------------------------------------------------------------------------- 1 | import os 2 | from setuptools import setup 3 | from setuptools import find_packages 4 | 5 | setup( 6 | name='dmc2gym', 7 | version='1.0.0', 8 | author='Denis Yarats / Kimin', 9 | description=('a gym like wrapper for dm_control. KM add supports for manipulator'), 10 | license='', 11 | keywords='gym dm_control openai deepmind', 12 | packages=find_packages(), 13 | install_requires=[ 14 | 'gym', 15 | 'dm_control', 16 | ], 17 | ) 18 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mujoco/testing/assets/model_incorrect_actuator_order.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/composer/arena.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 12 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mujoco/testing/assets/model_with_assets.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/third_party/kinova/common.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /.flake8: -------------------------------------------------------------------------------- 1 | [flake8] 2 | max-line-length = 100 3 | exclude = 4 | .git, 5 | __pycache__, 6 | .venv, 7 | venv, 8 | build, 9 | dist, 10 | *.egg-info 11 | ignore = 12 | E203, 13 | E501, 14 | W503, 15 | F401, 16 | F403, 17 | E722, 18 | E731, 19 | W291, 20 | W293, 21 | E302, 22 | E303, 23 | E305, 24 | E306, 25 | E261, 26 | E262, 27 | E265, 28 | E266, 29 | E401, 30 | E402, 31 | E711, 32 | E712, 33 | E713, 34 | E714, 35 | E721, 36 | E741, 37 | E742, 38 | E743, 39 | E901, 40 | E902, 41 | F841 -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mujoco/testing/assets/model_with_third_order_actuators.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /source/config/picor.yaml: -------------------------------------------------------------------------------- 1 | sac: 2 | discount: 0.99 3 | alpha_lr: 0.0001 4 | actor_lr: 0.0001 5 | critic_lr: 0.0001 6 | critic_tau: 0.005 7 | vcritic_lr: 0.0001 8 | batch_size: 1024 9 | sac_epoch: 1 10 | autotune: true 11 | max_grad_norm: 0.5 12 | init_temperature: 0.1 13 | actor_update_frequency: 1 14 | critic_target_update_frequency: 2 15 | 16 | actor_cfg: 17 | hidden_dim: 512 18 | hidden_depth: 3 19 | log_std_bounds: [-5, 5] 20 | 21 | critic_cfg: 22 | hidden_dim: 512 23 | hidden_depth: 3 24 | 25 | corr_v_cfg: 26 | hidden_dim: 512 27 | hidden_depth: 3 28 | 29 | corr: 30 | lamda: 0.95 31 | epsilon: 0.2 32 | corr_epochs: 10 33 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mjcf/test_assets/model_with_nameless_assets.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mujoco/testing/assets/model_with_ball_joints.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/utils/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/entities/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/_render/pyopengl/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/autowrap/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/mocap/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mujoco/testing/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/manipulation/shared/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/rl/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """RL interface code.""" 17 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/suite/utils/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Utility functions used in the control suite.""" 17 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/entities/manipulators/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Composer entities corresponding to robots.""" 17 | 18 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/tasks/reference_pose/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Reference pose tasks in the Locomotion library.""" 16 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/suite/wrappers/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Environment wrappers used to extend or modify environment behaviour.""" 17 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/props/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Props for Locomotion tasks.""" 16 | 17 | from dm_control.locomotion.props.target_sphere import TargetSphere 18 | from dm_control.locomotion.props.target_sphere import TargetSphereTwoTouch 19 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/suite/lqr.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/composer/constants.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Module defining constant values for Composer.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | SENSOR_SITES_GROUP = 4 23 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/entities/manipulators/kinova/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Composer models of Kinova robots.""" 17 | 18 | from dm_control.entities.manipulators.kinova.jaco_arm import JacoArm 19 | from dm_control.entities.manipulators.kinova.jaco_hand import JacoHand 20 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/tasks/reference_pose/datasets.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Datasets for reference pose tasks. 16 | """ 17 | 18 | from dm_control.locomotion.tasks.reference_pose import cmu_subsets 19 | 20 | 21 | DATASETS = dict() 22 | DATASETS.update(cmu_subsets.CMU_SUBSETS_DICT) 23 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/composer/initializers/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Tools for initializing the states of Composer environments.""" 17 | 18 | from dm_control.composer.initializers.prop_initializer import PropPlacer 19 | from dm_control.composer.initializers.tcp_initializer import ToolCenterPointInitializer 20 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/manipulation/shared/tags.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """String constants used to annotate task constructors.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | FEATURES = 'features' 23 | VISION = 'vision' 24 | 25 | EASY = 'easy' 26 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mjcf/test_assets/model_with_assets.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/examples/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Walkers for Locomotion tasks.""" 16 | 17 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoid 18 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoidPositionControlled 19 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoidPositionControlledV2020 20 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # How to Contribute 2 | 3 | We'd love to accept your patches and contributions to this project. There are 4 | just a few small guidelines you need to follow. 5 | 6 | ## Contributor License Agreement 7 | 8 | Contributions to this project must be accompanied by a Contributor License 9 | Agreement. You (or your employer) retain the copyright to your contribution, 10 | this simply gives us permission to use and redistribute your contributions as 11 | part of the project. Head over to to see 12 | your current agreements on file or to sign a new one. 13 | 14 | You generally only need to submit a CLA once, so if you've already submitted one 15 | (even if it was for a different project), you probably don't need to do it 16 | again. 17 | 18 | ## Code reviews 19 | 20 | All submissions, including submissions by project members, require review. We 21 | use GitHub pull requests for this purpose. Consult 22 | [GitHub Help](https://help.github.com/articles/about-pull-requests/) for more 23 | information on using pull requests. 24 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mujoco/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Mujoco implementations of base classes.""" 17 | 18 | from dm_control.mujoco.engine import action_spec 19 | 20 | from dm_control.mujoco.engine import Camera 21 | from dm_control.mujoco.engine import MovableCamera 22 | from dm_control.mujoco.engine import Physics 23 | from dm_control.mujoco.engine import TextOverlay 24 | -------------------------------------------------------------------------------- /libs/custom_dmc2gym/README.md: -------------------------------------------------------------------------------- 1 | # OpenAI Gym wrapper for the DeepMind Control Suite. 2 | A lightweight wrapper around the DeepMind Control Suite that provides the standard OpenAI Gym interface. The wrapper allows to specify the following: 3 | * Reliable random seed initialization that will ensure deterministic behaviour. 4 | * Setting ```from_pixels=True``` converts proprioceptive observations into image-based. In additional, you can choose the image dimensions, by setting ```height``` and ```width```. 5 | * Action space normalization bound each action's coordinate into the ```[-1, 1]``` range. 6 | * Setting ```frame_skip``` argument lets to perform action repeat. 7 | 8 | 9 | ### Instalation 10 | ``` 11 | pip install git+git://github.com/denisyarats/dmc2gym.git 12 | ``` 13 | 14 | ### Usage 15 | ```python 16 | import dmc2gym 17 | 18 | env = dmc2gym.make(domain_name='point_mass', task_name='easy', seed=1) 19 | 20 | done = False 21 | obs = env.reset() 22 | while not done: 23 | action = env.action_space.sample() 24 | obs, reward, done, info = env.step(action) 25 | ``` 26 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/entities/props/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Composer entities corresponding to props. 17 | 18 | A "prop" is typically a non-actuated entity representing an object in the world. 19 | """ 20 | 21 | from dm_control.entities.props.duplo import Duplo 22 | from dm_control.entities.props.position_detector import PositionDetector 23 | from dm_control.entities.props.primitive import Primitive 24 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2023 Fengshuo Bai 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/examples/explore.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Simple script to launch viewer with an example environment.""" 17 | 18 | from absl import app 19 | 20 | from dm_control import viewer 21 | from dm_control.locomotion.examples import basic_cmu_2019 22 | 23 | 24 | def main(unused_argv): 25 | viewer.launch(environment_loader=basic_cmu_2019.cmu_humanoid_run_gaps) 26 | 27 | if __name__ == '__main__': 28 | app.run(main) 29 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/soccer/team.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Define teams and players participating in a match.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import collections 23 | 24 | import enum 25 | 26 | 27 | class Team(enum.Enum): 28 | HOME = 0 29 | AWAY = 1 30 | 31 | 32 | Player = collections.namedtuple('Player', ['team', 'walker']) 33 | -------------------------------------------------------------------------------- /libs/custom_dmc2gym/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2020 Denis Yarats 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/manipulation/shared/constants.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Global constants used in manipulation tasks.""" 17 | 18 | CONTROL_TIMESTEP = 0.04 # Interval between agent actions, in seconds. 19 | 20 | # Predefined RGBA values 21 | RED = (1., 0., 0., 0.3) 22 | GREEN = (0., 1., 0., 0.3) 23 | BLUE = (0., 0., 1., 0.3) 24 | CYAN = (0., 1., 1., 0.3) 25 | MAGENTA = (1., 0., 1., 0.3) 26 | YELLOW = (1., 1., 0., 0.3) 27 | 28 | TASK_SITE_GROUP = 3 # Invisible group for task-related sites. 29 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/suite/pendulum.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/composer/initializer.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Module defining the abstract initializer.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import abc 23 | 24 | import six 25 | 26 | 27 | @six.add_metaclass(abc.ABCMeta) 28 | class Initializer(object): 29 | """The abstract base class for an initializer.""" 30 | 31 | @abc.abstractmethod 32 | def __call__(self, physics, random_state): 33 | raise NotImplementedError 34 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/suite/common/materials.xml: -------------------------------------------------------------------------------- 1 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/walkers/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Walkers for Locomotion tasks.""" 16 | 17 | from dm_control.locomotion.walkers.ant import Ant 18 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoidPositionControlled 19 | from dm_control.locomotion.walkers.cmu_humanoid import CMUHumanoidPositionControlledV2020 20 | from dm_control.locomotion.walkers.jumping_ball import JumpingBallWithHead 21 | from dm_control.locomotion.walkers.jumping_ball import RollingBallWithHead 22 | from dm_control.locomotion.walkers.rodent import Rat 23 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/_render/constants.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """String constants for the rendering module.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | # Name of the environment variable that selects a renderer platform. 23 | MUJOCO_GL = 'MUJOCO_GL' 24 | 25 | # Name of the environment variable that selects a platform for PyOpenGL. 26 | PYOPENGL_PLATFORM = 'PYOPENGL_PLATFORM' 27 | 28 | # Renderer platform specifiers. 29 | OSMESA = 'osmesa' 30 | GLFW = 'glfw' 31 | EGL = 'egl' 32 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/composer/observation/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Multi-rate observation and buffering framework for Composer environments.""" 17 | 18 | from dm_control.composer.observation import observable 19 | from dm_control.composer.observation.obs_buffer import Buffer 20 | from dm_control.composer.observation.updater import DEFAULT_BUFFER_SIZE 21 | from dm_control.composer.observation.updater import DEFAULT_DELAY 22 | from dm_control.composer.observation.updater import DEFAULT_UPDATE_INTERVAL 23 | from dm_control.composer.observation.updater import Updater 24 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mujoco/testing/assets/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Assets used for testing the MuJoCo bindings.""" 17 | 18 | import os 19 | 20 | from dm_control.utils import io as resources 21 | 22 | _ASSETS_DIR = os.path.dirname(__file__) 23 | 24 | 25 | def get_contents(filename): 26 | """Returns the contents of an asset as a string.""" 27 | return resources.GetResource(os.path.join(_ASSETS_DIR, filename)) 28 | 29 | 30 | def get_path(filename): 31 | """Returns the path to an asset.""" 32 | return resources.GetResourceFilename(os.path.join(_ASSETS_DIR, filename)) 33 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/utils/io.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017-2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS-IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """IO functions.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import os 23 | 24 | 25 | def GetResource(name, mode='rb'): 26 | with open(name, mode=mode) as f: 27 | return f.read() 28 | 29 | 30 | def GetResourceFilename(name, mode='rb'): 31 | del mode # Unused. 32 | return name 33 | 34 | 35 | def WalkResources(path): 36 | return os.walk(path) 37 | 38 | 39 | GetResourceAsFile = open # pylint: disable=invalid-name 40 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/composer/observation/observable/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Module for observables in the Composer library.""" 17 | 18 | from dm_control.composer.observation.observable.base import Generic 19 | from dm_control.composer.observation.observable.base import MujocoCamera 20 | from dm_control.composer.observation.observable.base import MujocoFeature 21 | from dm_control.composer.observation.observable.base import Observable 22 | 23 | from dm_control.composer.observation.observable.mjcf import MJCFCamera 24 | from dm_control.composer.observation.observable.mjcf import MJCFFeature 25 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mujoco/testing/generate_frames.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Script for generating pre-rendered frames used in integration tests.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | # Internal dependencies. 23 | from absl import app 24 | from dm_control.mujoco.testing import image_utils 25 | import six 26 | 27 | 28 | def main(argv): 29 | del argv # Unused. 30 | for sequence in six.itervalues(image_utils.SEQUENCES): 31 | sequence.save() 32 | 33 | if __name__ == '__main__': 34 | app.run(main) 35 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/arenas/bowl_test.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Tests for locomotion.arenas.bowl.""" 16 | 17 | from __future__ import absolute_import 18 | from __future__ import division 19 | from __future__ import print_function 20 | 21 | from absl.testing import absltest 22 | from dm_control import mjcf 23 | from dm_control.locomotion.arenas import bowl 24 | 25 | 26 | class BowlTest(absltest.TestCase): 27 | 28 | def test_can_compile_mjcf(self): 29 | 30 | arena = bowl.Bowl() 31 | mjcf.Physics.from_mjcf_model(arena.mjcf_model) 32 | 33 | 34 | if __name__ == '__main__': 35 | absltest.main() 36 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/soccer/explore.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Interactive viewer for MuJoCo soccer enviornmnet.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import functools 23 | from absl import app 24 | from dm_control import viewer 25 | from dm_control.locomotion import soccer 26 | 27 | 28 | def main(argv): 29 | if len(argv) > 1: 30 | raise app.UsageError('Too many command-line arguments.') 31 | viewer.launch(environment_loader=functools.partial(soccer.load, team_size=2)) 32 | 33 | 34 | if __name__ == '__main__': 35 | app.run(main) 36 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/viewer/gui/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Viewer's windowing systems.""" 16 | 17 | from dm_control import _render 18 | 19 | # pylint: disable=g-import-not-at-top 20 | # pylint: disable=invalid-name 21 | 22 | RenderWindow = None 23 | 24 | try: 25 | from dm_control.viewer.gui import glfw_gui 26 | RenderWindow = glfw_gui.GlfwWindow 27 | except ImportError: 28 | pass 29 | 30 | if RenderWindow is None: 31 | 32 | def ErrorRenderWindow(*args, **kwargs): 33 | del args, kwargs 34 | raise ImportError( 35 | 'Cannot create a window because no windowing system could be imported') 36 | RenderWindow = ErrorRenderWindow 37 | 38 | del _render 39 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/entities/manipulators/kinova/assets_path.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Helper module that specifies the path to Kinova assets.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import os 23 | import six 24 | 25 | # pylint: disable=g-import-not-at-top 26 | if six.PY2: 27 | import imp 28 | _DM_CONTROL_ROOT = imp.find_module('dm_control')[1] 29 | else: 30 | import importlib 31 | _DM_CONTROL_ROOT = os.path.dirname( 32 | importlib.util.find_spec('dm_control').origin) 33 | # pylint: enable=g-import-not-at-top 34 | 35 | KINOVA_ROOT = os.path.join(_DM_CONTROL_ROOT, 'third_party/kinova') 36 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/composer/robot.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Module defining the abstract robot class.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import abc 23 | 24 | from dm_control.composer import entity 25 | import numpy as np 26 | import six 27 | 28 | DOWN_QUATERNION = np.array([0., 0.70710678118, 0.70710678118, 0.]) 29 | 30 | 31 | @six.add_metaclass(abc.ABCMeta) 32 | class Robot(entity.Entity): 33 | """The abstract base class for robots.""" 34 | 35 | @abc.abstractproperty 36 | def actuators(self): 37 | """Returns the actuator elements of the robot.""" 38 | raise NotImplementedError 39 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/tasks/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Tasks in the Locomotion library.""" 16 | 17 | 18 | from dm_control.locomotion.tasks.corridors import RunThroughCorridor 19 | from dm_control.locomotion.tasks.escape import Escape 20 | from dm_control.locomotion.tasks.go_to_target import GoToTarget 21 | from dm_control.locomotion.tasks.random_goal_maze import ManyGoalsMaze 22 | from dm_control.locomotion.tasks.random_goal_maze import ManyHeterogeneousGoalsMaze 23 | from dm_control.locomotion.tasks.random_goal_maze import RepeatSingleGoalMaze 24 | from dm_control.locomotion.tasks.random_goal_maze import RepeatSingleGoalMazeAugmentedWithTargets 25 | from dm_control.locomotion.tasks.reach import TwoTouch 26 | 27 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/locomotion/arenas/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2019 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | """Arenas for Locomotion tasks.""" 16 | 17 | from dm_control.locomotion.arenas.bowl import Bowl 18 | from dm_control.locomotion.arenas.corridors import EmptyCorridor 19 | from dm_control.locomotion.arenas.corridors import GapsCorridor 20 | from dm_control.locomotion.arenas.corridors import WallsCorridor 21 | from dm_control.locomotion.arenas.floors import Floor 22 | from dm_control.locomotion.arenas.labmaze_textures import FloorTextures 23 | from dm_control.locomotion.arenas.labmaze_textures import SkyBox 24 | from dm_control.locomotion.arenas.labmaze_textures import WallTextures 25 | from dm_control.locomotion.arenas.mazes import MazeWithTargets 26 | from dm_control.locomotion.arenas.mazes import RandomMazeWithTargets 27 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/suite/common/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Functions to manage the common assets for domains.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import os 23 | from dm_control.utils import io as resources 24 | 25 | _SUITE_DIR = os.path.dirname(os.path.dirname(__file__)) 26 | _FILENAMES = [ 27 | "./common/materials.xml", 28 | "./common/skybox.xml", 29 | "./common/visual.xml", 30 | ] 31 | 32 | ASSETS = {filename: resources.GetResource(os.path.join(_SUITE_DIR, filename)) 33 | for filename in _FILENAMES} 34 | 35 | 36 | def read_model(model_filename): 37 | """Reads a model XML file and returns its contents as a string.""" 38 | return resources.GetResource(os.path.join(_SUITE_DIR, model_filename)) 39 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mjcf/test_assets/test_model.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | # PiCor Requirements 2 | # Generated based on actual installation process 3 | 4 | # Core ML/RL libraries 5 | torch==2.6.0+cu118 6 | torchvision==0.21.0+cu118 7 | torchaudio==2.6.0+cu118 8 | torchrl==0.7.2 9 | tensordict==0.7.0 10 | 11 | # Gym and environment libraries 12 | gym==0.19.0 13 | mujoco_py==2.0.2.8 14 | pybullet==3.2.7 15 | termcolor==3.1.0 16 | 17 | # MetaWorld (specific commit) 18 | git+https://github.com/Farama-Foundation/Metaworld.git@04be337a12305e393c0caf0cbf5ec7755c7c8feb 19 | 20 | # Garage (with no-deps to avoid conflicts) 21 | garage==2021.3.0 22 | 23 | # Build tools (specific versions for compatibility) 24 | Cython==0.29.21 25 | setuptools==59.5.0 26 | wheel==0.38.0 27 | 28 | # Core dependencies 29 | numpy==1.23.5 30 | scikit-image==0.24.0 31 | scipy==1.13.1 32 | 33 | # Utility libraries 34 | akro==0.0.8 35 | dowel==0.0.3 36 | psutil==7.0.0 37 | cma==2.7.0 38 | setproctitle>=1.0 39 | 40 | # TensorFlow ecosystem 41 | tensorflow==2.19.0 42 | tensorflow-probability>=0.11.0 43 | 44 | # Ray for distributed computing 45 | ray==2.10.0 46 | 47 | # Logging and monitoring 48 | wandb==0.21.0 49 | tensorboard==2.19.0 50 | tensorboardX==2.6.4 51 | 52 | # Configuration and utilities 53 | hydra-core==0.11.3 54 | python-dotenv==1.1.1 55 | PyYAML==6.0.2 56 | 57 | # Type hints 58 | typing_extensions==4.14.1 59 | 60 | # Other dependencies 61 | tqdm==4.67.1 62 | requests==2.32.4 63 | pillow==11.3.0 64 | matplotlib==3.9.4 65 | 66 | # Local custom libraries (to be installed separately) 67 | # -e ./libs/custom_dmcontrol 68 | # -e ./libs/custom_dmc2gym 69 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mjcf/base.py: -------------------------------------------------------------------------------- 1 | # Copyright 2018 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Base class for all MJCF elements in the object model.""" 17 | 18 | from __future__ import absolute_import 19 | from __future__ import division 20 | from __future__ import print_function 21 | 22 | import abc 23 | 24 | import six 25 | 26 | 27 | @six.add_metaclass(abc.ABCMeta) 28 | class Element(object): 29 | """Abstract base class for an MJCF element. 30 | 31 | This class is provided so that `isinstance(foo, Element)` is `True` for all 32 | Element-like objects. We do not implement the actual element here because 33 | the actual object returned from traversing the object hierarchy is a 34 | weakproxy-like proxy to an actual element. This is because we do not allow 35 | orphaned non-root elements, so when a particular element is removed from the 36 | tree, all references held automatically become invalid. 37 | """ 38 | __slots__ = [] 39 | -------------------------------------------------------------------------------- /libs/custom_dmcontrol/dm_control/mjcf/skin_test.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 The dm_control Authors. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | # ============================================================================ 15 | 16 | """Tests for dm_control.mjcf.skin.""" 17 | 18 | import os 19 | 20 | from absl.testing import absltest 21 | from dm_control.mjcf import skin 22 | 23 | from dm_control.utils import io as resources 24 | 25 | ASSETS_DIR = os.path.join(os.path.dirname(__file__), 'test_assets') 26 | SKIN_FILE_PATH = os.path.join(ASSETS_DIR, 'skins/test_skin.skn') 27 | 28 | 29 | class FakeMJCFBody: 30 | 31 | def __init__(self, full_identifier): 32 | self.full_identifier = full_identifier 33 | 34 | 35 | class SkinTest(absltest.TestCase): 36 | 37 | def test_can_parse_and_write_back(self): 38 | contents = resources.GetResource(SKIN_FILE_PATH, mode='rb') 39 | parsed = skin.parse(contents, body_getter=FakeMJCFBody) 40 | reconstructed = skin.serialize(parsed) 41 | self.assertEqual(reconstructed, contents) 42 | 43 | 44 | if __name__ == '__main__': 45 | absltest.main() 46 | -------------------------------------------------------------------------------- /source/rlkit/envs/proxy_env.py: -------------------------------------------------------------------------------- 1 | from gym import Env 2 | 3 | 4 | class ProxyEnv(Env): 5 | def __init__(self, wrapped_env): 6 | self._wrapped_env = wrapped_env 7 | self.action_space = self._wrapped_env.action_space 8 | self.observation_space = self._wrapped_env.observation_space 9 | 10 | @property 11 | def wrapped_env(self): 12 | return self._wrapped_env 13 | 14 | def reset(self, **kwargs): 15 | return self._wrapped_env.reset(**kwargs) 16 | 17 | def step(self, action): 18 | return self._wrapped_env.step(action) 19 | 20 | def render(self, *args, **kwargs): 21 | return self._wrapped_env.render(*args, **kwargs) 22 | 23 | @property 24 | def horizon(self): 25 | return self._wrapped_env.horizon 26 | 27 | def terminate(self): 28 | if hasattr(self.wrapped_env, "terminate"): 29 | self.wrapped_env.terminate() 30 | 31 | def __getattr__(self, attr): 32 | if attr == "_wrapped_env": 33 | raise AttributeError() 34 | return getattr(self._wrapped_env, attr) 35 | 36 | def __getstate__(self): 37 | """ 38 | This is useful to override in case the wrapped env has some funky 39 | __getstate__ that doesn't play well with overriding __getattr__. 40 | The main problematic case is/was gym's EzPickle serialization scheme. 41 | :return: 42 | """ 43 | return self.__dict__ 44 | 45 | def __setstate__(self, state): 46 | self.__dict__.update(state) 47 | 48 | def __str__(self): 49 | return "{}({})".format(type(self).__name__, self.wrapped_env) 50 | --------------------------------------------------------------------------------