├── .gitignore ├── .gitmodules ├── INSTRUCTIONS.md ├── README.md ├── configs └── rearrange │ ├── composite │ ├── __base__.py │ ├── prepare_groceries │ │ ├── base.yaml │ │ ├── mp.yaml │ │ ├── mr.yaml │ │ └── sp.yaml │ ├── set_table │ │ ├── base.yaml │ │ ├── mp.yaml │ │ ├── mr.yaml │ │ └── sp.yaml │ └── tidy_house │ │ ├── base.yaml │ │ ├── mp.yaml │ │ ├── mr.yaml │ │ └── sp.yaml │ ├── skills │ ├── __base__.py │ ├── prepare_groceries │ │ ├── base.yaml │ │ ├── nav_v0_disc_SCR.yaml │ │ ├── nav_v1_disc_SCR.yaml │ │ ├── pick_v0_joint_SCR.yaml │ │ ├── pick_v1_joint_SCR.yaml │ │ ├── place_v0_joint_SCR.yaml │ │ └── place_v1_joint_SCR.yaml │ ├── set_table │ │ ├── base.yaml │ │ ├── close_drawer_v0A_joint_SCR.yaml │ │ ├── close_drawer_v0_joint_SCR.yaml │ │ ├── close_fridge_v0A_joint_SCR.yaml │ │ ├── nav_v0_disc_SCR.yaml │ │ ├── nav_v1_disc_SCR.yaml │ │ ├── open_drawer_v0A_joint_SCR.yaml │ │ ├── open_drawer_v0_joint_SCR.yaml │ │ ├── open_fridge_v0A_joint_SCR.yaml │ │ ├── pick_v0_drawer_joint_SCR.yaml │ │ └── pick_v1_drawer_joint_SCR.yaml │ └── tidy_house │ │ ├── base.yaml │ │ ├── nav_v0_disc_SCR.yaml │ │ ├── nav_v1_disc_SCR.yaml │ │ ├── pick_v0_joint_SCR.yaml │ │ ├── pick_v1_joint_SCR.yaml │ │ ├── place_v0_joint_SCR.yaml │ │ └── place_v1_joint_SCR.yaml │ └── tasks │ ├── __base__.py │ ├── base.yaml │ ├── close_drawer_v0.yaml │ ├── close_drawer_v0A.yaml │ ├── close_fridge_v0A.yaml │ ├── composite │ ├── prepare_groceries.yaml │ ├── set_table.yaml │ └── tidy_house.yaml │ ├── nav_v0.yaml │ ├── nav_v1.yaml │ ├── open_drawer_v0.yaml │ ├── open_drawer_v0A.yaml │ ├── open_fridge_v0.yaml │ ├── open_fridge_v0A.yaml │ ├── pick_v0.yaml │ ├── pick_v1.yaml │ ├── place_v0.yaml │ ├── place_v1.yaml │ └── play.yaml ├── docker └── Dockerfile ├── habitat_extensions ├── __init__.py ├── assets │ ├── objects │ │ └── primitives │ │ │ ├── arrow.glb │ │ │ ├── arrow.object_config.json │ │ │ ├── coord_frame.glb │ │ │ ├── coord_frame.object_config.json │ │ │ ├── region_green.glb │ │ │ ├── region_green.object_config.json │ │ │ ├── transform_box.glb │ │ │ └── transform_box.object_config.json │ └── robots │ │ └── hab_fetch │ │ ├── meshes │ │ └── robots │ │ ├── hab_fetch.srdf │ │ └── hab_fetch_arm.urdf ├── robots │ ├── __init__.py │ ├── base_robot.py │ ├── fetch_robot.py │ ├── grippers.py │ ├── marker.py │ └── pybullet_utils.py ├── tasks │ ├── __init__.py │ └── rearrange │ │ ├── __init__.py │ │ ├── actions.py │ │ ├── composite_sensors.py │ │ ├── composite_tasks.py │ │ ├── env.py │ │ ├── play.py │ │ ├── sensors.py │ │ ├── sim.py │ │ ├── sub_tasks │ │ ├── __init__.py │ │ ├── art_sensors.py │ │ ├── art_task.py │ │ ├── nav_sensors.py │ │ ├── nav_task.py │ │ ├── pick_sensors.py │ │ ├── pick_task.py │ │ ├── place_sensors.py │ │ └── place_task.py │ │ ├── task.py │ │ └── task_utils.py └── utils │ ├── __init__.py │ ├── art_utils.py │ ├── coll_utils.py │ ├── geo_utils.py │ ├── io_utils.py │ ├── map_utils.py │ ├── mn_utils.py │ ├── obj_utils.py │ ├── sim_utils.py │ ├── viewer.py │ └── visualizations │ ├── __init__.py │ └── utils.py ├── mobile_manipulation ├── __init__.py ├── common │ ├── __init__.py │ ├── registry.py │ └── rollout_storage.py ├── config │ └── __init__.py ├── eval_composite.py ├── methods │ ├── __init__.py │ ├── composite_policy.py │ ├── skill.py │ └── skills │ │ ├── __init__.py │ │ ├── gt_skills.py │ │ └── rl_skills.py ├── ppo │ ├── __init__.py │ ├── policies │ │ ├── __init__.py │ │ └── cnn_policy.py │ ├── policy.py │ └── trainers │ │ ├── __init__.py │ │ └── ppo_trainer_v0.py ├── run_ppo.py └── utils │ ├── __init__.py │ ├── common.py │ ├── env_utils.py │ ├── nn_utils.py │ └── wrappers.py ├── pyproject.toml ├── pyrightconfig.json ├── requirements.txt ├── scripts ├── audit_habitat_sim.sh ├── collect_results.py ├── datasets │ └── configs │ │ ├── prepare_groceries_220417.yaml │ │ ├── set_table_220417.yaml │ │ └── tidy_house_220417.yaml ├── eval_composite.sh ├── generate_episodes.sh └── merge_episodes.py └── setup.py /.gitignore: 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