├── .gitignore ├── LICENSE ├── README.md ├── docker └── Dockerfile.gpu ├── examples ├── attic │ ├── kuka_model_id_controller.py │ ├── kuka_model_pd_controller.py │ ├── learn_big_hole.py │ ├── learn_no_hole.py │ ├── learn_remote_center_control.py │ ├── learn_remote_center_control_cirriculum_learning.py │ ├── learn_remote_center_no_hole.py │ ├── replay_model.py │ ├── run_baselines.py │ ├── run_cirriculum_learning.py │ ├── run_examples.sh │ ├── run_kuka_model.py │ ├── run_kuka_model_with_sensor.py │ ├── run_no_hole.py │ ├── run_stable_baselines.py │ ├── sweep_learning.py │ ├── test_peg_insertion_experiment.py │ └── test_remote_center_controlled_kuka.py ├── experiment_files.py ├── hand_tuned_policies │ ├── impedance_peg_insertion.py │ └── run_hand_tuned_policies.py ├── learn_curriculum.py ├── learn_environment.py ├── param_files │ ├── ImpedancePegInsertion:SAC.json │ ├── ImpedancePegInsertionTest.json │ ├── ImpedancePegInsertion_random_holes:PPO2.json │ ├── ImpedanceV2Hammer:PPO2.json │ ├── InverseDynamicsPegInsertion:SAC.json │ ├── KukaMujoco-curriculum-test.json │ ├── KukaMujoco-v0-test.json │ ├── TorquePegInsertion:SAC.json │ ├── block_push_test.json │ ├── compare_cost_fn │ │ ├── ImpedancePegInsertion_linear:PPO2.json │ │ ├── ImpedancePegInsertion_log:PPO2.json │ │ └── ImpedancePegInsertion_quad:PPO2.json │ ├── compare_hole_size │ │ ├── ImpedancePegInsertion_60:PPO2.json │ │ ├── ImpedancePegInsertion_70:PPO2.json │ │ ├── ImpedancePegInsertion_80:PPO2.json │ │ └── ImpedancePegInsertion_90:PPO2.json │ ├── default_params.json │ ├── hardware │ │ └── hold_position.json │ ├── impedance_test.json │ ├── pd_control_test.json │ ├── progress │ │ ├── IDPushing_random.json │ │ ├── ImpedanceHammer:PPO2.json │ │ ├── ImpedancePegInsertion:PPO2.json │ │ └── ImpedanceV2Pushing:PPO2.json │ ├── tuning │ │ ├── ID:PPO2.json │ │ ├── ImpedanceV2:PPO2.json │ │ ├── PD:PPO2.json │ │ └── Torque:PPO2.json │ ├── vis_random_holes.json │ ├── working │ │ ├── hammer │ │ │ ├── IDHammer:PPO2.json │ │ │ ├── ImpedanceV2Hammer:PPO2.json │ │ │ ├── PDHammer:PPO2.json │ │ │ └── TorqueHammer:PPO2.json │ │ ├── peg_insertion │ │ │ ├── IDPegInsertion:PPO2.json │ │ │ ├── ImpedanceV2PegInsertion:PPO2.json │ │ │ ├── ImpedanceV2PegInsertionMinimalObs:PPO2.json │ │ │ ├── PDPegInsertion:PPO2.json │ │ │ └── TorquePegInsertion:PPO2.json │ │ └── pushing │ │ │ ├── IDPushing:PPO2.json │ │ │ ├── ImpedanceV2Pushing:PPO2.json │ │ │ ├── PDPushing:PPO2.json │ │ │ └── TorquePushing:PPO2.json │ ├── working_60dc534014f6c97d59d263453a25b1af9e837e2a │ │ ├── IDPegInsertion:PPO2.json │ │ ├── ImpedanceHammer:PPO2.json │ │ ├── ImpedancePegInsertion:PPO2.json │ │ └── TorquePegInsertion:PPO2.json │ ├── working_SAC │ │ ├── hammer │ │ │ ├── IDHammer:SAC.json │ │ │ ├── ImpedanceV2Hammer:SAC.json │ │ │ ├── PDHammer:SAC.json │ │ │ └── TorqueHammer:SAC.json │ │ └── pushing │ │ │ ├── PDPushing:SAC.json │ │ │ └── [openai manipulation] but has been improved to mat │ └── working_old │ │ ├── IDPegInsertion:PPO2.json │ │ ├── IDPushing:PPO2.json │ │ ├── ImpedanceV2PegInsertion:PPO2.json │ │ ├── PDPegInsertion:PPO2.json │ │ └── TorquePegInsertion:PPO2.json ├── play_model.py ├── plotting │ ├── plot_episode.py │ ├── plot_results.py │ ├── plot_results_hammer.py │ ├── plot_results_insertion.py │ └── plot_results_pushing.py ├── run_PPO_hammer.sh ├── run_PPO_insertion.sh ├── run_PPO_insertion_final.sh ├── run_PPO_pushing.sh ├── step_environment.py ├── test_envs │ ├── test_common.py │ ├── test_kuka.py │ ├── test_tanh_gauss.py │ └── vis_random_policy.py ├── test_mujoco │ ├── change_hole_position.py │ ├── forward_kinematics.py │ ├── inverse_kinematics.py │ ├── inverse_kinematics_block_push.py │ ├── inverse_kinematics_hole_insertion.py │ ├── render_state.py │ └── test_falling_peg.py ├── test_tensorflow │ └── load_model.py ├── test_tip_distance.py ├── tune_controllers │ ├── compute_ee_travel.py │ ├── compute_stiffness.py │ └── tuned_control_params.py ├── vis_environment.py └── vis_init_environment.py ├── gym_kuka_mujoco ├── __init__.py ├── controllers │ ├── __init__.py │ ├── base_controller.py │ ├── direct_torque_controller.py │ ├── full_impedance_controller.py │ ├── impedance_controller.py │ ├── impedance_controller_v2.py │ ├── inverse_dynamics_controller.py │ ├── pd_controller.py │ ├── registry.py │ └── test │ │ ├── common.py │ │ ├── test_inverse_dynamics_controller.py │ │ ├── test_pd_controller.py │ │ ├── test_torque_controller.py │ │ └── vis_impedance_controller.py ├── envs │ ├── __init__.py │ ├── assets │ │ ├── __init__.py │ │ ├── full_falling_peg.xml │ │ ├── full_hammer_experiment_no_collision_no_gravity.xml │ │ ├── full_hammer_experiment_no_gravity.xml │ │ ├── full_kuka_mesh_collision.xml │ │ ├── full_kuka_mesh_collision_no_gravity.xml │ │ ├── full_kuka_no_collision.xml │ │ ├── full_kuka_no_collision_no_gravity.xml │ │ ├── full_peg_insertion_experiment.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=000.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=001.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=002.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=003.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=004.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=005.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=006.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=007.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=008.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=009.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=010.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=011.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=012.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=013.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=014.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=015.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=016.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=017.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=018.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=019.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=020.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=021.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=022.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=023.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=024.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=025.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=026.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=027.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=028.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=029.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=030.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=031.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=032.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=033.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=034.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=035.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=036.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=037.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=038.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=039.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=040.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=041.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=042.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=043.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=044.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=045.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=046.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=047.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=048.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=049.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=050.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=051.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=052.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=053.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=054.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=055.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=056.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=057.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=058.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=059.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=060.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=061.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=062.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=063.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=064.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=065.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=066.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=067.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=068.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=069.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=070.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=071.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=072.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=073.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=074.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=075.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=076.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=077.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=078.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=079.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=080.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=081.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=082.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=083.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=084.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=085.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=086.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=087.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=088.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=089.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=090.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=091.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=092.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=093.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=094.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=095.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=096.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=097.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=098.xml │ │ ├── full_peg_insertion_experiment_moving_hole_id=099.xml │ │ ├── full_peg_insertion_experiment_moving_many_holes.xml │ │ ├── full_peg_insertion_experiment_moving_template.xml │ │ ├── full_peg_insertion_experiment_no_collision.xml │ │ ├── full_peg_insertion_experiment_no_collision_no_gravity.xml │ │ ├── full_peg_insertion_experiment_no_gravity.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=000.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=001.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=002.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=003.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=004.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=005.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=006.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=007.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=008.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=009.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=010.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=011.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=012.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=013.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=014.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=015.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=016.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=017.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=018.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=019.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=020.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=021.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=022.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=023.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=024.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=025.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=026.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=027.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=028.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=029.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=030.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=031.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=032.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=033.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=034.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=035.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=036.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=037.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=038.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=039.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=040.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=041.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=042.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=043.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=044.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=045.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=046.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=047.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=048.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=049.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=050.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=051.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=052.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=053.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=054.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=055.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=056.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=057.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=058.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=059.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=060.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=061.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=062.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=063.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=064.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=065.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=066.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=067.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=068.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=069.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=070.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=071.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=072.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=073.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=074.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=075.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=076.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=077.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=078.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=079.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=080.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=081.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=082.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=083.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=084.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=085.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=086.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=087.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=088.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=089.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=090.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=091.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=092.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=093.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=094.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=095.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=096.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=097.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=098.xml │ │ ├── full_peg_insertion_experiment_no_gravity_moving_hole_id=099.xml │ │ ├── full_peg_insertion_experiment_no_hole.xml │ │ ├── full_peg_insertion_experiment_no_hole_no_gravity.xml │ │ ├── full_pushing_experiment.xml │ │ ├── full_pushing_experiment_no_collision.xml │ │ ├── full_pushing_experiment_no_collision_no_gravity.xml │ │ ├── full_pushing_experiment_no_gravity.xml │ │ ├── full_valve_experiment_no_collision_no_gravity.xml │ │ ├── full_valve_experiment_no_gravity.xml │ │ ├── hammer │ │ │ ├── __init__.py │ │ │ ├── full_nail_only.xml │ │ │ ├── hammer_collision.xml │ │ │ ├── hammer_no_collision.xml │ │ │ ├── nail_collision.xml │ │ │ └── nail_no_collision.xml │ │ ├── hole │ │ │ ├── __init__.py │ │ │ ├── many_holes.xml │ │ │ ├── no_hole.xml │ │ │ ├── polyhedral_hole_inner=0-006800_outer=0-10_height=0-05_num_facets=16_id=099.xml │ │ │ ├── polyhedral_hole_inner=0-006805_outer=0-10_height=0-05_num_facets=16_id=098.xml │ │ │ ├── polyhedral_hole_inner=0-006810_outer=0-10_height=0-05_num_facets=16_id=097.xml │ │ │ ├── polyhedral_hole_inner=0-006815_outer=0-10_height=0-05_num_facets=16_id=096.xml │ │ │ ├── polyhedral_hole_inner=0-006821_outer=0-10_height=0-05_num_facets=16_id=095.xml │ │ │ ├── polyhedral_hole_inner=0-006827_outer=0-10_height=0-05_num_facets=16_id=094.xml │ │ │ ├── polyhedral_hole_inner=0-006834_outer=0-10_height=0-05_num_facets=16_id=093.xml │ │ │ ├── polyhedral_hole_inner=0-006840_outer=0-10_height=0-05_num_facets=16_id=092.xml │ │ │ ├── polyhedral_hole_inner=0-006848_outer=0-10_height=0-05_num_facets=16_id=091.xml │ │ │ ├── polyhedral_hole_inner=0-006856_outer=0-10_height=0-05_num_facets=16_id=090.xml │ │ │ ├── polyhedral_hole_inner=0-00685_outer=0-05_height=0-05_num_facets=16.xml │ │ │ ├── polyhedral_hole_inner=0-006864_outer=0-10_height=0-05_num_facets=16_id=089.xml │ │ │ ├── polyhedral_hole_inner=0-006873_outer=0-10_height=0-05_num_facets=16_id=088.xml │ │ │ ├── polyhedral_hole_inner=0-006882_outer=0-10_height=0-05_num_facets=16_id=087.xml │ │ │ ├── polyhedral_hole_inner=0-006892_outer=0-10_height=0-05_num_facets=16_id=086.xml │ │ │ ├── polyhedral_hole_inner=0-0068_outer=0-05_height=0-05_num_facets=16.xml │ │ │ ├── polyhedral_hole_inner=0-006903_outer=0-10_height=0-05_num_facets=16_id=085.xml │ │ │ ├── polyhedral_hole_inner=0-006914_outer=0-10_height=0-05_num_facets=16_id=084.xml │ │ │ ├── polyhedral_hole_inner=0-006926_outer=0-10_height=0-05_num_facets=16_id=083.xml │ │ │ ├── polyhedral_hole_inner=0-006939_outer=0-10_height=0-05_num_facets=16_id=082.xml │ │ │ ├── polyhedral_hole_inner=0-006952_outer=0-10_height=0-05_num_facets=16_id=081.xml │ │ │ ├── polyhedral_hole_inner=0-006967_outer=0-10_height=0-05_num_facets=16_id=080.xml │ │ │ ├── polyhedral_hole_inner=0-006982_outer=0-10_height=0-05_num_facets=16_id=079.xml │ │ │ ├── polyhedral_hole_inner=0-006998_outer=0-10_height=0-05_num_facets=16_id=078.xml │ │ │ ├── polyhedral_hole_inner=0-007016_outer=0-10_height=0-05_num_facets=16_id=077.xml │ │ │ ├── polyhedral_hole_inner=0-007034_outer=0-10_height=0-05_num_facets=16_id=076.xml │ │ │ ├── polyhedral_hole_inner=0-007054_outer=0-10_height=0-05_num_facets=16_id=075.xml │ │ │ ├── polyhedral_hole_inner=0-007075_outer=0-10_height=0-05_num_facets=16_id=074.xml │ │ │ ├── polyhedral_hole_inner=0-007097_outer=0-10_height=0-05_num_facets=16_id=073.xml │ │ │ ├── polyhedral_hole_inner=0-0070_outer=0-05_height=0-05_num_facets=16.xml │ │ │ ├── polyhedral_hole_inner=0-007120_outer=0-10_height=0-05_num_facets=16_id=072.xml │ │ │ ├── polyhedral_hole_inner=0-007145_outer=0-10_height=0-05_num_facets=16_id=071.xml │ │ │ ├── polyhedral_hole_inner=0-007172_outer=0-10_height=0-05_num_facets=16_id=070.xml │ │ │ ├── polyhedral_hole_inner=0-007201_outer=0-10_height=0-05_num_facets=16_id=069.xml │ │ │ ├── polyhedral_hole_inner=0-007231_outer=0-10_height=0-05_num_facets=16_id=068.xml │ │ │ ├── polyhedral_hole_inner=0-007263_outer=0-10_height=0-05_num_facets=16_id=067.xml │ │ │ ├── polyhedral_hole_inner=0-007297_outer=0-10_height=0-05_num_facets=16_id=066.xml │ │ │ ├── polyhedral_hole_inner=0-007333_outer=0-10_height=0-05_num_facets=16_id=065.xml │ │ │ ├── polyhedral_hole_inner=0-007372_outer=0-10_height=0-05_num_facets=16_id=064.xml │ │ │ ├── polyhedral_hole_inner=0-007413_outer=0-10_height=0-05_num_facets=16_id=063.xml │ │ │ ├── polyhedral_hole_inner=0-007457_outer=0-10_height=0-05_num_facets=16_id=062.xml │ │ │ ├── polyhedral_hole_inner=0-007503_outer=0-10_height=0-05_num_facets=16_id=061.xml │ │ │ ├── polyhedral_hole_inner=0-007553_outer=0-10_height=0-05_num_facets=16_id=060.xml │ │ │ ├── polyhedral_hole_inner=0-0075_outer=0-05_height=0-05_num_facets=16.xml │ │ │ ├── polyhedral_hole_inner=0-007605_outer=0-10_height=0-05_num_facets=16_id=059.xml │ │ │ ├── polyhedral_hole_inner=0-007661_outer=0-10_height=0-05_num_facets=16_id=058.xml │ │ │ ├── polyhedral_hole_inner=0-007721_outer=0-10_height=0-05_num_facets=16_id=057.xml │ │ │ ├── polyhedral_hole_inner=0-007784_outer=0-10_height=0-05_num_facets=16_id=056.xml │ │ │ ├── polyhedral_hole_inner=0-007851_outer=0-10_height=0-05_num_facets=16_id=055.xml │ │ │ ├── polyhedral_hole_inner=0-007922_outer=0-10_height=0-05_num_facets=16_id=054.xml │ │ │ ├── polyhedral_hole_inner=0-007999_outer=0-10_height=0-05_num_facets=16_id=053.xml │ │ │ ├── polyhedral_hole_inner=0-008079_outer=0-10_height=0-05_num_facets=16_id=052.xml │ │ │ ├── polyhedral_hole_inner=0-008165_outer=0-10_height=0-05_num_facets=16_id=051.xml │ │ │ ├── polyhedral_hole_inner=0-008257_outer=0-10_height=0-05_num_facets=16_id=050.xml │ │ │ ├── polyhedral_hole_inner=0-008354_outer=0-10_height=0-05_num_facets=16_id=049.xml │ │ │ ├── polyhedral_hole_inner=0-008458_outer=0-10_height=0-05_num_facets=16_id=048.xml │ │ │ ├── polyhedral_hole_inner=0-008568_outer=0-10_height=0-05_num_facets=16_id=047.xml │ │ │ ├── polyhedral_hole_inner=0-008685_outer=0-10_height=0-05_num_facets=16_id=046.xml │ │ │ ├── polyhedral_hole_inner=0-008809_outer=0-10_height=0-05_num_facets=16_id=045.xml │ │ │ ├── polyhedral_hole_inner=0-008941_outer=0-10_height=0-05_num_facets=16_id=044.xml │ │ │ ├── polyhedral_hole_inner=0-008_outer=0-05_height=0-05_num_facets=16.xml │ │ │ ├── polyhedral_hole_inner=0-009082_outer=0-10_height=0-05_num_facets=16_id=043.xml │ │ │ ├── polyhedral_hole_inner=0-009232_outer=0-10_height=0-05_num_facets=16_id=042.xml │ │ │ ├── polyhedral_hole_inner=0-009391_outer=0-10_height=0-05_num_facets=16_id=041.xml │ │ │ ├── polyhedral_hole_inner=0-009560_outer=0-10_height=0-05_num_facets=16_id=040.xml │ │ │ ├── polyhedral_hole_inner=0-009740_outer=0-10_height=0-05_num_facets=16_id=039.xml │ │ │ ├── polyhedral_hole_inner=0-009932_outer=0-10_height=0-05_num_facets=16_id=038.xml │ │ │ ├── polyhedral_hole_inner=0-010135_outer=0-10_height=0-05_num_facets=16_id=037.xml │ │ │ ├── polyhedral_hole_inner=0-010352_outer=0-10_height=0-05_num_facets=16_id=036.xml │ │ │ ├── polyhedral_hole_inner=0-010582_outer=0-10_height=0-05_num_facets=16_id=035.xml │ │ │ ├── polyhedral_hole_inner=0-010827_outer=0-10_height=0-05_num_facets=16_id=034.xml │ │ │ ├── polyhedral_hole_inner=0-011088_outer=0-10_height=0-05_num_facets=16_id=033.xml │ │ │ ├── polyhedral_hole_inner=0-011365_outer=0-10_height=0-05_num_facets=16_id=032.xml │ │ │ ├── polyhedral_hole_inner=0-011659_outer=0-10_height=0-05_num_facets=16_id=031.xml │ │ │ ├── polyhedral_hole_inner=0-011973_outer=0-10_height=0-05_num_facets=16_id=030.xml │ │ │ ├── polyhedral_hole_inner=0-012306_outer=0-10_height=0-05_num_facets=16_id=029.xml │ │ │ ├── polyhedral_hole_inner=0-012660_outer=0-10_height=0-05_num_facets=16_id=028.xml │ │ │ ├── polyhedral_hole_inner=0-013037_outer=0-10_height=0-05_num_facets=16_id=027.xml │ │ │ ├── polyhedral_hole_inner=0-013438_outer=0-10_height=0-05_num_facets=16_id=026.xml │ │ │ ├── polyhedral_hole_inner=0-013865_outer=0-10_height=0-05_num_facets=16_id=025.xml │ │ │ ├── polyhedral_hole_inner=0-014318_outer=0-10_height=0-05_num_facets=16_id=024.xml │ │ │ ├── polyhedral_hole_inner=0-014800_outer=0-10_height=0-05_num_facets=16_id=023.xml │ │ │ ├── polyhedral_hole_inner=0-015313_outer=0-10_height=0-05_num_facets=16_id=022.xml │ │ │ ├── polyhedral_hole_inner=0-015858_outer=0-10_height=0-05_num_facets=16_id=021.xml │ │ │ ├── polyhedral_hole_inner=0-016438_outer=0-10_height=0-05_num_facets=16_id=020.xml │ │ │ ├── polyhedral_hole_inner=0-017055_outer=0-10_height=0-05_num_facets=16_id=019.xml │ │ │ ├── polyhedral_hole_inner=0-017711_outer=0-10_height=0-05_num_facets=16_id=018.xml │ │ │ ├── polyhedral_hole_inner=0-018408_outer=0-10_height=0-05_num_facets=16_id=017.xml │ │ │ ├── polyhedral_hole_inner=0-019150_outer=0-10_height=0-05_num_facets=16_id=016.xml │ │ │ ├── polyhedral_hole_inner=0-019939_outer=0-10_height=0-05_num_facets=16_id=015.xml │ │ │ ├── polyhedral_hole_inner=0-020779_outer=0-10_height=0-05_num_facets=16_id=014.xml │ │ │ ├── polyhedral_hole_inner=0-021671_outer=0-10_height=0-05_num_facets=16_id=013.xml │ │ │ ├── polyhedral_hole_inner=0-022620_outer=0-10_height=0-05_num_facets=16_id=012.xml │ │ │ ├── polyhedral_hole_inner=0-023629_outer=0-10_height=0-05_num_facets=16_id=011.xml │ │ │ ├── polyhedral_hole_inner=0-024703_outer=0-10_height=0-05_num_facets=16_id=010.xml │ │ │ ├── polyhedral_hole_inner=0-025845_outer=0-10_height=0-05_num_facets=16_id=009.xml │ │ │ ├── polyhedral_hole_inner=0-027059_outer=0-10_height=0-05_num_facets=16_id=008.xml │ │ │ ├── polyhedral_hole_inner=0-028350_outer=0-10_height=0-05_num_facets=16_id=007.xml │ │ │ ├── polyhedral_hole_inner=0-029723_outer=0-10_height=0-05_num_facets=16_id=006.xml │ │ │ ├── polyhedral_hole_inner=0-031183_outer=0-10_height=0-05_num_facets=16_id=005.xml │ │ │ ├── polyhedral_hole_inner=0-032737_outer=0-10_height=0-05_num_facets=16_id=004.xml │ │ │ ├── polyhedral_hole_inner=0-034388_outer=0-10_height=0-05_num_facets=16_id=003.xml │ │ │ ├── polyhedral_hole_inner=0-036145_outer=0-10_height=0-05_num_facets=16_id=002.xml │ │ │ ├── polyhedral_hole_inner=0-038013_outer=0-10_height=0-05_num_facets=16_id=001.xml │ │ │ ├── polyhedral_hole_inner=0-040000_outer=0-10_height=0-05_num_facets=16_id=000.xml │ │ │ └── polyhedral_hole_inner=0-040_outer=0-05_height=0-05_num_facets=16.xml │ │ ├── hole_lineup.xml │ │ ├── kuka │ │ │ ├── __init__.py │ │ │ ├── kuka_actuators.xml │ │ │ ├── kuka_assets.xml │ │ │ ├── kuka_mesh_collision.xml │ │ │ ├── kuka_mesh_collision_hammer_ee.xml │ │ │ ├── kuka_mesh_collision_peg_ee.xml │ │ │ ├── kuka_no_collision.xml │ │ │ ├── kuka_no_collision_hammer_ee.xml │ │ │ └── kuka_no_collision_peg_ee.xml │ │ ├── meshes │ │ │ ├── __init__.py │ │ │ ├── kuka_link_0.stl │ │ │ ├── kuka_link_1.stl │ │ │ ├── kuka_link_2.stl │ │ │ ├── kuka_link_3.stl │ │ │ ├── kuka_link_4.stl │ │ │ ├── kuka_link_5.stl │ │ │ ├── kuka_link_6.stl │ │ │ └── kuka_link_7.stl │ │ ├── peg │ │ │ ├── __init__.py │ │ │ ├── peg_collision.xml │ │ │ ├── peg_no_collision.xml │ │ │ └── peg_sensors.xml │ │ ├── pushing │ │ │ ├── __init__.py │ │ │ ├── block_collision.xml │ │ │ ├── block_no_collision.xml │ │ │ └── full_block_only.xml │ │ ├── random_pushing_poses.npy │ │ ├── random_reachable_holes.npy │ │ ├── random_reachable_holes_small_randomness.npy │ │ └── valve │ │ │ ├── __init__.py │ │ │ ├── full_valve_only.xml │ │ │ ├── valve_collision.xml │ │ │ └── valve_no_collision.xml │ ├── hammer_env.py │ ├── hold_position_env.py │ ├── kuka_env.py │ ├── peg_insertion_env.py │ ├── pushing_env.py │ ├── test │ │ ├── test_block_pushing.py │ │ ├── test_hammer_model.py │ │ └── test_valve_turning.py │ └── valve_turning_env.py ├── utils │ ├── .gitignore │ ├── __init__.py │ ├── gen_experiment_files.py │ ├── gen_hole.py │ ├── gen_random_pushing_poses.py │ ├── gen_random_reachable_holes.py │ ├── insertion.py │ ├── kinematics.py │ ├── load_model.py │ ├── mujoco_utils.py │ ├── projection.py │ ├── quaternion.py │ ├── randomize.py │ └── test │ │ ├── test_gen_hole.py │ │ ├── test_kinematics.py │ │ └── test_quaternion.py └── wrappers │ ├── __init__.py │ └── tensorboard_wrapper.py ├── requirements.txt ├── run_docker_gpu.sh └── setup.py 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