├── .gitignore ├── Commands.md ├── LICENSE ├── README.md ├── Tasks.md ├── bash ├── README.md ├── copy-zero-itr.sh ├── debug_insertion_gt_state.sh ├── load_bag-alone-open.sh ├── load_bag-color-goal.sh ├── load_bag-items-easy.sh ├── load_bag-items-hard.sh ├── load_cable-line-notarget.sh ├── load_cable-ring-notarget.sh ├── load_cable-ring.sh ├── load_cable-shape-notarget.sh ├── load_cable-shape.sh ├── load_cloth-cover.sh ├── load_cloth-flat-notarget.sh ├── load_cloth-flat.sh ├── load_insertion-goal.sh ├── save_no_training.sh ├── train_bag-alone-open.sh ├── train_bag-color-goal.sh ├── train_bag-items-easy.sh ├── train_bag-items-hard.sh ├── train_cable-line-notarget.sh ├── train_cable-ring-notarget.sh ├── train_cable-ring.sh ├── train_cable-shape-notarget.sh ├── train_cable-shape.sh ├── train_cloth-cover.sh ├── train_cloth-flat-notarget.sh ├── train_cloth-flat.sh └── train_insertion-goal.sh ├── figures └── README.md ├── generate_goals.py ├── install_python_ubuntu.sh ├── load.py ├── main.py ├── plot.py ├── plot_combo.py ├── plot_defs.py ├── ravens ├── __init__.py ├── agents │ ├── __init__.py │ ├── conv_mlp.py │ ├── dummy.py │ ├── gt_state.py │ ├── gt_state_2_step.py │ ├── regression.py │ └── transporter.py ├── assets │ ├── bags │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.1_numV_257.mtl │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.1_numV_257.obj │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.1_numV_257_top_ring.txt │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.3_numV_289.mtl │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.3_numV_289.obj │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.3_numV_289_top_ring.txt │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.4_numV_321.mtl │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.4_numV_321.obj │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.4_numV_321_top_ring.txt │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.6_numV_353.mtl │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.6_numV_353.obj │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.6_numV_353_top_ring.txt │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.8_numV_385.mtl │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.8_numV_385.obj │ │ └── bl_sphere_bag_rad_1.0_zthresh_0.8_numV_385_top_ring.txt │ ├── balls │ │ └── ball.vtk │ ├── block │ │ ├── block.urdf │ │ └── block_for_anchors.urdf │ ├── bowl │ │ ├── bowl.urdf │ │ ├── cup.obj │ │ └── textured-0008192.obj │ ├── box │ │ ├── box-template-light.urdf │ │ └── box-template.urdf │ ├── cable │ │ └── cable.urdf │ ├── cloth │ │ ├── bl_cloth_05_cuts.obj │ │ ├── bl_cloth_10_cuts.obj │ │ ├── bl_cloth_15_cuts.obj │ │ ├── bl_cloth_20_cuts.obj │ │ ├── bl_cloth_25_cuts.obj │ │ ├── cloth.obj │ │ └── cloth_z_up.obj │ ├── container │ │ └── container-template.urdf │ ├── corner │ │ └── corner-template.urdf │ ├── cubes │ │ ├── cube.mtl │ │ ├── cube.obj │ │ └── cube.urdf │ ├── hanoi │ │ ├── block.urdf │ │ ├── disk0.obj │ │ ├── disk0.urdf │ │ ├── disk1.obj │ │ ├── disk1.urdf │ │ ├── disk2.obj │ │ ├── disk2.urdf │ │ ├── disk3.obj │ │ ├── disk3.urdf │ │ ├── slimdisk.urdf │ │ └── stand.urdf │ ├── insertion │ │ ├── ell.urdf │ │ └── hole.urdf │ ├── kitting │ │ ├── 00.obj │ │ ├── 01.obj │ │ ├── 02.obj │ │ ├── 03.obj │ │ ├── 04.obj │ │ ├── 05.obj │ │ ├── 06.obj │ │ ├── 07.obj │ │ ├── 08.obj │ │ ├── 09.obj │ │ ├── 10.obj │ │ ├── 11.obj │ │ ├── 12.obj │ │ ├── 13.obj │ │ ├── 14.obj │ │ ├── 15.obj │ │ ├── 16.obj │ │ ├── 17.obj │ │ ├── 18.obj │ │ ├── 19.obj │ │ ├── kit.urdf │ │ └── object-template.urdf │ ├── line │ │ ├── line-template.urdf │ │ └── line.obj │ ├── morsel │ │ └── morsel.urdf │ ├── pallet │ │ ├── pallet.obj │ │ └── pallet.urdf │ ├── plane │ │ ├── checker_blue.png │ │ ├── plane.mtl │ │ ├── plane.obj │ │ ├── plane.urdf │ │ └── plane100.obj │ ├── rectangle │ │ ├── rectangle-template-sides-1.urdf │ │ ├── rectangle-template-sides-2.urdf │ │ ├── rectangle-template-sides-3.urdf │ │ └── rectangle-template-sides-4.urdf │ ├── square │ │ ├── square-template-allsides-blue.urdf │ │ ├── square-template-allsides-green.urdf │ │ └── square-template.urdf │ ├── stacking │ │ ├── block.urdf │ │ └── stand.urdf │ ├── torus │ │ ├── torus.vtk │ │ └── torus_deform.urdf │ ├── ur5 │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ ├── gripper │ │ │ ├── README.md │ │ │ ├── robotiq-2f-base.mtl │ │ │ ├── robotiq-2f-base.obj │ │ │ ├── robotiq-2f-base.stl │ │ │ ├── robotiq-2f-coupler.mtl │ │ │ ├── robotiq-2f-coupler.obj │ │ │ ├── robotiq-2f-coupler.stl │ │ │ ├── robotiq-2f-driver.mtl │ │ │ ├── robotiq-2f-driver.obj │ │ │ ├── robotiq-2f-driver.stl │ │ │ ├── robotiq-2f-follower.mtl │ │ │ ├── robotiq-2f-follower.obj │ │ │ ├── robotiq-2f-follower.stl │ │ │ ├── robotiq-2f-pad.stl │ │ │ ├── robotiq-2f-spring_link.mtl │ │ │ ├── robotiq-2f-spring_link.obj │ │ │ ├── robotiq-2f-spring_link.stl │ │ │ ├── robotiq_2f_85.urdf │ │ │ ├── test.py │ │ │ └── textures │ │ │ │ ├── gripper-2f_BaseColor.jpg │ │ │ │ ├── gripper-2f_Metallic.jpg │ │ │ │ ├── gripper-2f_Normal.jpg │ │ │ │ └── gripper-2f_Roughness.jpg │ │ ├── mount.urdf │ │ ├── notes.txt │ │ ├── plane.obj │ │ ├── suction │ │ │ ├── base.obj │ │ │ ├── head.obj │ │ │ ├── mid.obj │ │ │ ├── suction-base.urdf │ │ │ ├── suction-head.urdf │ │ │ └── tip.obj │ │ ├── ur5-gripper.urdf │ │ ├── ur5-spatula.urdf │ │ ├── ur5-stick.urdf │ │ ├── ur5-suction.urdf │ │ ├── visual │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ └── workspace.urdf │ └── zone │ │ ├── zone-template.urdf │ │ ├── zone.obj │ │ └── zone.urdf ├── cameras.py ├── dataset.py ├── environment.py ├── gripper.py ├── models │ ├── __init__.py │ ├── attention.py │ ├── conv_mlp.py │ ├── gt_state.py │ ├── mdn_utils.py │ ├── regression.py │ ├── resnet.py │ ├── transport.py │ └── transport_goal.py ├── tasks │ ├── __init__.py │ ├── aligning.py │ ├── cable.py │ ├── defs_bags.py │ ├── defs_cables.py │ ├── defs_cloth.py │ ├── hanoi.py │ ├── hanoi_generalize.py │ ├── insertion.py │ ├── insertion_goal.py │ ├── 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