├── .github ├── FUNDING.yml ├── ISSUE_TEMPLATE │ ├── bug.md │ ├── proposal.md │ └── question.md ├── PULL_REQUEST_TEMPLATE.md └── stale.yml ├── .gitignore ├── CODE_OF_CONDUCT.rst ├── LICENSE ├── MANIFEST.in ├── README.md ├── d4rl-text.png ├── d4rl ├── __init__.py ├── carla │ ├── __init__.py │ ├── carla_env.py │ ├── data_collection_agent_lane.py │ ├── data_collection_town.py │ └── town_agent.py ├── flow │ ├── __init__.py │ ├── bottleneck.py │ ├── merge.py │ └── traffic_light_grid.py ├── gym_bullet │ ├── __init__.py │ └── gym_envs.py ├── gym_minigrid │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── empty.py │ │ └── fourrooms.py │ ├── fourroom_controller.py │ ├── minigrid.py │ ├── register.py │ ├── rendering.py │ ├── roomgrid.py │ ├── window.py │ └── wrappers.py ├── gym_mujoco │ ├── __init__.py │ └── gym_envs.py ├── hand_manipulation_suite │ ├── Adroit │ │ ├── .gitignore │ │ ├── Adroit_hand.xml │ │ ├── Adroit_hand_withOverlay.xml │ │ ├── LICENSE │ │ ├── README.md │ │ ├── gallery │ │ │ ├── news.JPG │ │ │ └── projects.JPG │ │ └── resources │ │ │ ├── assets.xml │ │ │ ├── chain.xml │ │ │ ├── chain1.xml │ │ │ ├── joint_position_actuation.xml │ │ │ ├── meshes │ │ │ ├── F1.stl │ │ │ ├── F2.stl │ │ │ ├── F3.stl │ │ │ ├── TH1_z.stl │ │ │ ├── TH2_z.stl │ │ │ ├── TH3_z.stl │ │ │ ├── arm_base.stl │ │ │ ├── arm_trunk.stl │ │ │ ├── arm_trunk_asmbly.stl │ │ │ ├── distal_ellipsoid.stl │ │ │ ├── elbow_flex.stl │ │ │ ├── elbow_rotate_motor.stl │ │ │ ├── elbow_rotate_muscle.stl │ │ │ ├── forearm_Cy_PlateAsmbly(muscle_cone).stl │ │ │ ├── forearm_Cy_PlateAsmbly.stl │ │ │ ├── forearm_PlateAsmbly.stl │ │ │ ├── forearm_electric.stl │ │ │ ├── forearm_electric_cvx.stl │ │ │ ├── forearm_muscle.stl │ │ │ ├── forearm_simple.stl │ │ │ ├── forearm_simple_cvx.stl │ │ │ ├── forearm_weight.stl │ │ │ ├── knuckle.stl │ │ │ ├── lfmetacarpal.stl │ │ │ ├── palm.stl │ │ │ ├── upper_arm.stl │ │ │ ├── upper_arm_asmbl_shoulder.stl │ │ │ ├── upper_arm_ass.stl │ │ │ └── wrist.stl │ │ │ ├── tendon_torque_actuation.xml │ │ │ └── textures │ │ │ ├── darkwood.png │ │ │ ├── dice.png │ │ │ ├── foil.png │ │ │ ├── marble.png │ │ │ ├── silverRaw.png │ │ │ ├── skin.png │ │ │ ├── square.png │ │ │ ├── wood.png │ │ │ └── woodb.png │ ├── __init__.py │ ├── assets │ │ ├── DAPG_Adroit.xml │ │ ├── DAPG_assets.xml │ │ ├── DAPG_door.xml │ │ ├── DAPG_hammer.xml │ │ ├── DAPG_pen.xml │ │ ├── DAPG_relocate.xml │ │ └── tasks.jpg │ ├── door_v0.py │ ├── hammer_v0.py │ ├── pen_v0.py │ └── relocate_v0.py ├── infos.py ├── kitchen │ ├── __init__.py │ ├── adept_envs │ │ ├── .pylintrc │ │ ├── .style.yapf │ │ ├── __init__.py │ │ ├── base_robot.py │ │ ├── franka │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ └── franka_kitchen_jntpos_act_ab.xml │ │ │ ├── kitchen_multitask_v0.py │ │ │ └── robot │ │ │ │ ├── __init__.py │ │ │ │ ├── franka_config.xml │ │ │ │ └── franka_robot.py │ │ ├── mujoco_env.py │ │ ├── robot_env.py │ │ ├── simulation │ │ │ ├── __init__.py │ │ │ ├── module.py │ │ │ ├── renderer.py │ │ │ └── sim_robot.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── configurable.py │ │ │ ├── constants.py │ │ │ ├── parse_demos.py │ │ │ └── quatmath.py │ ├── adept_models │ │ ├── .gitignore │ │ ├── CONTRIBUTING.public.md │ │ ├── LICENSE │ │ ├── README.public.md │ │ ├── __init__.py │ │ ├── kitchen │ │ │ ├── assets │ │ │ │ ├── backwall_asset.xml │ │ │ │ ├── backwall_chain.xml │ │ │ │ ├── counters_asset.xml │ │ │ │ ├── counters_chain.xml │ │ │ │ ├── hingecabinet_asset.xml │ │ │ │ ├── hingecabinet_chain.xml │ │ │ │ ├── kettle_asset.xml │ │ │ │ ├── kettle_chain.xml │ │ │ │ ├── microwave_asset.xml │ │ │ │ ├── microwave_chain.xml │ │ │ │ ├── oven_asset.xml │ │ │ │ ├── oven_chain.xml │ │ │ │ ├── slidecabinet_asset.xml │ │ │ │ └── slidecabinet_chain.xml │ │ │ ├── counters.xml │ │ │ ├── hingecabinet.xml │ │ │ ├── kettle.xml │ │ │ ├── kitchen.xml │ │ │ ├── meshes │ │ │ │ ├── burnerplate.stl │ │ │ │ ├── burnerplate_mesh.stl │ │ │ │ ├── cabinetbase.stl │ │ │ │ ├── cabinetdrawer.stl │ │ │ │ ├── cabinethandle.stl │ │ │ │ ├── countertop.stl │ │ │ │ ├── faucet.stl │ │ │ │ ├── handle2.stl │ │ │ │ ├── hingecabinet.stl │ │ │ │ ├── hingedoor.stl │ │ │ │ ├── hingehandle.stl │ │ │ │ ├── hood.stl │ │ │ │ ├── kettle.stl │ │ │ │ ├── kettlehandle.stl │ │ │ │ ├── knob.stl │ │ │ │ ├── lightswitch.stl │ │ │ │ ├── lightswitchbase.stl │ │ │ │ ├── micro.stl │ │ │ │ ├── microbutton.stl │ │ │ │ ├── microdoor.stl │ │ │ │ ├── microefeet.stl │ │ │ │ ├── microfeet.stl │ │ │ │ ├── microhandle.stl │ │ │ │ ├── microwindow.stl │ │ │ │ ├── oven.stl │ │ │ │ ├── ovenhandle.stl │ │ │ │ ├── oventop.stl │ │ │ │ ├── ovenwindow.stl │ │ │ │ ├── slidecabinet.stl │ │ │ │ ├── slidedoor.stl │ │ │ │ ├── stoverim.stl │ │ │ │ ├── tile.stl │ │ │ │ └── wall.stl │ │ │ ├── microwave.xml │ │ │ ├── oven.xml │ │ │ ├── slidecabinet.xml │ │ │ └── textures │ │ │ │ ├── marble1.png │ │ │ │ ├── metal1.png │ │ │ │ ├── tile1.png │ │ │ │ └── wood1.png │ │ └── scenes │ │ │ ├── basic_scene.xml │ │ │ └── textures │ │ │ ├── white_marble_tile.png │ │ │ └── white_marble_tile2.png │ ├── kitchen_envs.py │ └── third_party │ │ └── franka │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ ├── actuator0.xml │ │ ├── actuator1.xml │ │ ├── assets.xml │ │ ├── basic_scene.xml │ │ ├── chain0.xml │ │ ├── chain0_overlay.xml │ │ ├── chain1.xml │ │ └── teleop_actuator.xml │ │ ├── bi-franka_panda.xml │ │ ├── franka_panda.png │ │ ├── franka_panda.xml │ │ ├── franka_panda_teleop.xml │ │ └── meshes │ │ ├── collision │ │ ├── finger.stl │ │ ├── hand.stl │ │ ├── link0.stl │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ ├── link6.stl │ │ └── link7.stl │ │ └── visual │ │ ├── finger.stl │ │ ├── hand.stl │ │ ├── link0.stl │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ ├── link6.stl │ │ └── link7.stl ├── locomotion │ ├── __init__.py │ ├── ant.py │ ├── assets │ │ ├── ant.xml │ │ └── point.xml │ ├── common.py │ ├── generate_dataset.py │ ├── goal_reaching_env.py │ ├── maze_env.py │ ├── mujoco_goal_env.py │ ├── point.py │ ├── swimmer.py │ └── wrappers.py ├── offline_env.py ├── ope.py ├── pointmaze │ ├── __init__.py │ ├── dynamic_mjc.py │ ├── gridcraft │ │ ├── __init__.py │ │ ├── grid_env.py │ │ ├── grid_spec.py │ │ ├── utils.py │ │ └── wrappers.py │ ├── maze_model.py │ ├── q_iteration.py │ └── waypoint_controller.py ├── pointmaze_bullet │ ├── __init__.py │ ├── bullet_maze.py │ └── bullet_robot.py └── utils │ ├── __init__.py │ ├── dataset_utils.py │ ├── quatmath.py │ ├── visualize_env.py │ └── wrappers.py ├── scripts ├── check_antmaze_datasets.py ├── check_bullet.py ├── check_envs.py ├── check_mujoco_datasets.py ├── generation │ ├── flow_idm.py │ ├── generate_ant_maze_datasets.py │ ├── generate_kitchen_datasets.py │ ├── generate_maze2d_bullet_datasets.py │ ├── generate_maze2d_datasets.py │ ├── generate_minigrid_fourroom_data.py │ ├── hand_dapg_combined.py │ ├── hand_dapg_demos.py │ ├── hand_dapg_jax.py │ ├── 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