├── INSTALL.md ├── LICENSE ├── ManiCM ├── .gitignore ├── diffusion_policy_3d │ ├── common │ │ ├── checkpoint_util.py │ │ ├── logger_util.py │ │ ├── model_util.py │ │ ├── pytorch_util.py │ │ ├── replay_buffer.py │ │ └── sampler.py │ ├── config │ │ ├── dp3.yaml │ │ ├── dp3_cm.yaml │ │ └── task │ │ │ ├── adroit_door.yaml │ │ │ ├── adroit_hammer.yaml │ │ │ ├── adroit_pen.yaml │ │ │ ├── dexart_bucket.yaml │ │ │ ├── dexart_faucet.yaml │ │ │ ├── dexart_laptop.yaml │ │ │ ├── dexart_toilet.yaml │ │ │ ├── metaworld_assembly.yaml │ │ │ ├── metaworld_basketball.yaml │ │ │ ├── metaworld_bin-picking.yaml │ │ │ ├── metaworld_box-close.yaml │ │ │ ├── metaworld_button-press-topdown-wall.yaml │ │ │ ├── metaworld_button-press-topdown.yaml │ │ │ ├── metaworld_button-press-wall.yaml │ │ │ ├── metaworld_button-press.yaml │ │ │ ├── metaworld_coffee-button.yaml │ │ │ ├── metaworld_coffee-pull.yaml │ │ │ ├── metaworld_coffee-push.yaml │ │ │ ├── metaworld_dial-turn.yaml │ │ │ ├── metaworld_disassemble.yaml │ │ │ ├── metaworld_door-close.yaml │ │ │ ├── metaworld_door-lock.yaml │ │ │ ├── metaworld_door-open.yaml │ │ │ ├── metaworld_door-unlock.yaml │ │ │ ├── metaworld_drawer-close.yaml │ │ │ ├── metaworld_drawer-open.yaml │ │ │ ├── metaworld_faucet-close.yaml │ │ │ ├── metaworld_faucet-open.yaml │ │ │ ├── metaworld_hammer.yaml │ │ │ ├── metaworld_hand-insert.yaml │ │ │ ├── metaworld_handle-press-side.yaml │ │ │ ├── metaworld_handle-press.yaml │ │ │ ├── metaworld_handle-pull-side.yaml │ │ │ ├── metaworld_handle-pull.yaml │ │ │ ├── metaworld_lever-pull.yaml │ │ │ ├── metaworld_peg-insert-side.yaml │ │ │ ├── metaworld_peg-unplug-side.yaml │ │ │ ├── metaworld_pick-out-of-hole.yaml │ │ │ ├── metaworld_pick-place-wall.yaml │ │ │ ├── metaworld_pick-place.yaml │ │ │ ├── metaworld_plate-slide-back-side.yaml │ │ │ ├── metaworld_plate-slide-back.yaml │ │ │ ├── metaworld_plate-slide-side.yaml │ │ │ ├── metaworld_plate-slide.yaml │ │ │ ├── metaworld_push-back.yaml │ │ │ ├── metaworld_push-wall.yaml │ │ │ ├── metaworld_push.yaml │ │ │ ├── metaworld_reach-wall.yaml │ │ │ ├── metaworld_reach.yaml │ │ │ ├── metaworld_shelf-place.yaml │ │ │ ├── metaworld_soccer.yaml │ │ │ ├── metaworld_stick-pull.yaml │ │ │ ├── metaworld_stick-push.yaml │ │ │ ├── metaworld_sweep-into.yaml │ │ │ ├── metaworld_sweep.yaml │ │ │ ├── metaworld_window-close.yaml │ │ │ ├── metaworld_window-open.yaml │ │ │ ├── realdex_drill.yaml │ │ │ ├── realdex_dumpling.yaml │ │ │ ├── realdex_pour.yaml │ │ │ └── realdex_roll.yaml │ ├── dataset │ │ ├── __init__.py │ │ ├── adroit_dataset.py │ │ ├── base_dataset.py │ │ ├── dexart_dataset.py │ │ ├── metaworld_dataset.py │ │ └── realdex_dataset.py │ ├── env │ │ ├── __init__.py │ │ ├── adroit │ │ │ ├── __init__.py │ │ │ ├── adroit.py │ │ │ └── rrl_local │ │ │ │ ├── rrl_encoder.py │ │ │ │ ├── rrl_multicam.py │ │ │ │ └── rrl_utils.py │ │ ├── dexart │ │ │ ├── __init__.py │ │ │ └── dexart_wrapper.py │ │ └── metaworld │ │ │ ├── __init__.py │ │ │ └── metaworld_wrapper.py │ ├── env_runner │ │ ├── adroit_runner.py │ │ ├── base_runner.py │ │ ├── dexart_runner.py │ │ └── metaworld_runner.py │ ├── gym_util │ │ ├── mjpc_diffusion_wrapper.py │ │ ├── mjpc_wrapper.py │ │ ├── mujoco_point_cloud.py │ │ ├── multistep_wrapper.py │ │ ├── video_recording_wrapper.py │ │ └── video_wrapper.py │ ├── model │ │ ├── common │ │ │ ├── dict_of_tensor_mixin.py │ │ │ ├── lr_scheduler.py │ │ │ ├── module_attr_mixin.py │ │ │ ├── normalizer.py │ │ │ ├── shape_util.py │ │ │ └── tensor_util.py │ │ ├── diffusion │ │ │ ├── conditional_unet1d.py │ │ │ ├── conv1d_components.py │ │ │ ├── ema_model.py │ │ │ ├── mask_generator.py │ │ │ ├── positional_embedding.py │ │ │ └── simple_conditional_unet1d.py │ │ └── vision │ │ │ └── pointnet_extractor.py │ └── policy │ │ ├── base_policy.py │ │ └── dp3.py ├── eval.py ├── setup.py ├── train.py └── train_cm.py ├── README.md ├── files ├── 2024-ManiCM.png └── paper_title.png ├── scopy.sh ├── scripts ├── convert_real_robot_data.py ├── eval_policy.sh ├── find_gpu.sh ├── gen_demonstration_adroit.sh ├── gen_demonstration_dexart.sh ├── gen_demonstration_metaworld.sh ├── train_policy.sh └── train_policy_cm.sh ├── third_party ├── Metaworld │ ├── .gitignore │ ├── LICENSE │ ├── MANIFEST.in │ ├── Makefile │ ├── README.md │ ├── gen_demonstration_expert.py │ ├── metaworld │ │ ├── __init__.py │ │ ├── envs │ │ │ ├── __init__.py │ │ │ ├── asset_path_utils.py │ │ │ ├── assets_v2 │ │ │ │ ├── objects │ │ │ │ │ ├── assembly_peg.xml │ │ │ │ │ ├── assets │ │ │ │ │ │ ├── assembly_peg.xml │ │ │ │ │ │ ├── assembly_peg_dependencies.xml │ │ │ │ │ │ ├── basketball.xml │ │ │ │ │ │ ├── basketball_dependencies.xml │ │ │ │ │ │ ├── basketballhoop.xml │ │ │ │ │ │ ├── binA.xml │ │ │ │ │ │ ├── binB.xml │ │ │ │ │ │ ├── bin_dependencies.xml │ │ │ │ │ │ ├── block.xml │ │ │ │ │ │ ├── block_cyl.xml │ │ │ │ │ │ ├── block_dependencies.xml │ │ │ │ │ │ ├── box.xml │ │ │ │ │ │ ├── box_dependencies.xml │ │ │ │ │ │ ├── boxtop.xml │ │ │ │ │ │ ├── buttonbox.xml │ │ │ │ │ │ ├── buttonbox_dependencies.xml │ │ │ │ │ │ ├── club.xml │ │ │ │ │ │ ├── club_dependencies.xml │ │ │ │ │ │ ├── coffeemachine.xml │ │ │ │ │ │ ├── coffeemachine_dependencies.xml │ │ │ │ │ │ ├── dial.xml │ │ │ │ │ │ ├── dial_dependencies.xml │ │ │ │ │ │ ├── doorlockA.xml │ │ │ │ │ │ ├── doorlockB.xml │ │ │ │ │ │ ├── doorlock_dependencies.xml │ │ │ │ │ │ ├── drawer.xml │ │ │ │ │ │ ├── drawer_dependencies.xml │ │ │ │ │ │ ├── faucet.xml │ │ │ │ │ │ ├── faucet_dependencies.xml │ │ │ │ │ │ ├── hammer.xml │ │ │ │ │ │ ├── hammer_dependencies.xml │ │ │ │ │ │ ├── hammerblock.xml │ │ │ │ │ │ ├── handle_press.xml │ │ │ │ │ │ ├── handle_press_dependencies.xml │ │ │ │ │ │ ├── laptop.xml │ │ │ │ │ │ ├── laptop_dependencies.xml │ │ │ │ │ │ ├── lever.xml │ │ │ │ │ │ ├── lever_dependencies.xml │ │ │ │ │ │ ├── mug.xml │ │ │ │ │ │ ├── objA.xml │ │ │ │ │ │ ├── peg_block.xml │ │ │ │ │ │ ├── peg_block_dependencies.xml │ │ │ │ │ │ ├── peg_insert.xml │ │ │ │ │ │ ├── peg_insert_dependencies.xml │ │ │ │ │ │ ├── plug.xml │ │ │ │ │ │ ├── plug_dependencies.xml │ │ │ │ │ │ ├── plug_wall.xml │ │ │ │ │ │ ├── plug_wall_dependencies.xml │ │ │ │ │ │ ├── puck.xml │ │ │ │ │ │ ├── puck_goal.xml │ │ │ │ │ │ ├── puck_goal_dependencies.xml │ │ │ │ │ │ ├── shelf.xml │ │ │ │ │ │ ├── shelf_dependencies.xml │ │ │ │ │ │ ├── shelfb.xml │ │ │ │ │ │ ├── shelfb_dependencies.xml │ │ │ │ │ │ ├── soccer_ball.xml │ │ │ │ │ │ ├── soccer_dependencies.xml │ │ │ │ │ │ ├── soccer_goal.xml │ │ │ │ │ │ ├── stick.xml │ │ │ │ │ │ ├── stick_dependencies.xml │ │ │ │ │ │ ├── table.xml │ │ │ │ │ │ ├── table_dependencies.xml │ │ │ │ │ │ ├── table_hole.xml │ │ │ │ │ │ ├── thermos.xml │ │ │ │ │ │ ├── thermos_dependencies.xml │ │ │ │ │ │ ├── wall.xml │ │ │ │ │ │ ├── wall_dependencies.xml │ │ │ │ │ │ ├── window.xml │ │ │ │ │ │ ├── window_dependencies.xml │ │ │ │ │ │ ├── window_horiz.xml │ │ │ │ │ │ ├── xyz_base.xml │ │ │ │ │ │ └── xyz_base_dependencies.xml │ │ │ │ │ ├── basketball.xml │ │ │ │ │ ├── basketballhoop.xml │ │ │ │ │ ├── binA.xml │ │ │ │ │ ├── binB.xml │ │ │ │ │ ├── block.xml │ │ │ │ │ ├── block_cyl.xml │ │ │ │ │ ├── box.xml │ │ │ │ │ ├── buttonbox.xml │ │ │ │ │ ├── club.xml │ │ │ │ │ ├── coffeemachine.xml │ │ │ │ │ ├── dial.xml │ │ │ │ │ ├── doorlockA.xml │ │ │ │ │ ├── doorlockB.xml │ │ │ │ │ ├── drawer.xml │ │ │ │ │ ├── faucet.xml │ │ │ │ │ ├── hammer.xml │ │ │ │ │ ├── hammerblock.xml │ │ │ │ │ ├── handle_press.xml │ │ │ │ │ ├── laptop.xml │ │ │ │ │ ├── lever.xml │ │ │ │ │ ├── meshes │ │ │ │ │ │ ├── assembly_peg │ │ │ │ │ │ │ ├── assembly_peg_handle.stl │ │ │ │ │ │ │ ├── assembly_peg_ring.stl │ │ │ │ │ │ │ └── assembly_peg_rod.stl │ │ │ │ │ │ ├── basketball │ │ │ │ │ │ │ ├── backboard.stl │ │ │ │ │ │ │ ├── backboardsquareinner.stl │ │ │ │ │ │ │ ├── backboardsquareouter.stl │ │ │ │ │ │ │ ├── basketballinner.stl │ │ │ │ │ │ │ ├── basketballouter.stl │ │ │ │ │ │ │ ├── hoop.stl │ │ │ │ │ │ │ └── pole.stl │ │ │ │ │ │ ├── bin │ │ │ │ │ │ │ └── bin.stl │ │ │ │ │ │ ├── block │ │ │ │ │ │ │ └── block.stl │ │ │ │ │ │ ├── box │ │ │ │ │ │ │ ├── boxhandle.stl │ │ │ │ │ │ │ └── boxtop.stl │ │ │ │ │ │ ├── buttonbox │ │ │ │ │ │ │ ├── button.stl │ │ │ │ │ │ │ ├── buttonring.stl │ │ │ │ │ │ │ ├── stopbot.stl │ │ │ │ │ │ │ ├── stopbutton.stl │ │ │ │ │ │ │ ├── stopbuttonrim.stl │ │ │ │ │ │ │ ├── stopbuttonrod.stl │ │ │ │ │ │ │ └── stoptop.stl │ │ │ │ │ │ ├── coffeemachine │ │ │ │ │ │ │ ├── body1.stl │ │ │ │ │ │ │ ├── body2.stl │ │ │ │ │ │ │ ├── bodypiece1.stl │ │ │ │ │ │ │ ├── bodypiece2.stl │ │ │ │ │ │ │ ├── bodypiece3.stl │ │ │ │ │ │ │ ├── button.stl │ │ │ │ │ │ │ ├── buttonring.stl │ │ │ │ │ │ │ ├── cup.stl │ │ │ │ │ │ │ ├── handle.stl │ │ │ │ │ │ │ ├── mug.stl │ │ │ │ │ │ │ ├── spout.stl │ │ │ │ │ │ │ └── spoutconnect.stl │ │ │ │ │ │ ├── dial │ │ │ │ │ │ │ ├── dial.stl │ │ │ │ │ │ │ └── dialhead.stl │ │ │ │ │ │ ├── doorlock │ │ │ │ │ │ │ ├── door.stl │ │ │ │ │ │ │ ├── door_handle.stl │ │ │ │ │ │ │ ├── handle.stl │ │ │ │ │ │ │ ├── handle_base.stl │ │ │ │ │ │ │ ├── lock.stl │ │ │ │ │ │ │ ├── lock_base.stl │ │ │ │ │ │ │ └── safe.stl │ │ │ │ │ │ ├── drawer │ │ │ │ │ │ │ ├── drawer.stl │ │ │ │ │ │ │ ├── drawercase.stl │ │ │ │ │ │ │ └── drawerhandle.stl │ │ │ │ │ │ ├── faucet │ │ │ │ │ │ │ ├── faucetbase.stl │ │ │ │ │ │ │ ├── faucethandle1.stl │ │ │ │ │ │ │ └── faucethead.stl │ │ │ │ │ │ ├── golf_club │ │ │ │ │ │ │ ├── club_handle.stl │ │ │ │ │ │ │ ├── club_head.stl │ │ │ │ │ │ │ └── club_tape.stl │ │ │ │ │ │ ├── hammer │ │ │ │ │ │ │ ├── hammerblock.stl │ │ │ │ │ │ │ ├── hammerhandle.stl │ │ │ │ │ │ │ ├── hammerhead.stl │ │ │ │ │ │ │ └── nail.stl │ │ │ │ │ │ ├── handle_press │ │ │ │ │ │ │ ├── handle_press_base.stl │ │ │ │ │ │ │ ├── handle_press_col1.stl │ │ │ │ │ │ │ ├── handle_press_col2.stl │ │ │ │ │ │ │ ├── handle_press_col3.stl │ │ │ │ │ │ │ ├── handle_press_grip.stl │ │ │ │ │ │ │ ├── handle_press_lever.stl │ │ │ │ │ │ │ └── handle_press_trim.stl │ │ │ │ │ │ ├── laptop │ │ │ │ │ │ │ ├── laptop_base.stl │ │ │ │ │ │ │ ├── laptop_hinge.stl │ │ │ │ │ │ │ ├── laptop_keys.stl │ │ │ │ │ │ │ ├── laptop_screen.stl │ │ │ │ │ │ │ └── laptop_top.stl │ │ │ │ │ │ ├── lever │ │ │ │ │ │ │ ├── lever_axis.stl │ │ │ │ │ │ │ ├── lever_base.stl │ │ │ │ │ │ │ ├── lever_handle.stl │ │ │ │ │ │ │ ├── lever_rod.stl │ │ │ │ │ │ │ └── lever_rodbase.stl │ │ │ │ │ │ ├── peg_block │ │ │ │ │ │ │ ├── block_inner.stl │ │ │ │ │ │ │ └── block_outer.stl │ │ │ │ │ │ ├── plug │ │ │ │ │ │ │ ├── plug.stl │ │ │ │ │ │ │ ├── plug_head.stl │ │ │ │ │ │ │ ├── plug_plastic.stl │ │ │ │ │ │ │ └── plug_wall.stl │ │ │ │ │ │ ├── puck │ │ │ │ │ │ │ ├── goal_net.stl │ │ │ │ │ │ │ ├── goal_rim.stl │ │ │ │ │ │ │ ├── net1_col.stl │ │ │ │ │ │ │ ├── net2_col.stl │ │ │ │ │ │ │ ├── net3_col.stl │ │ │ │ │ │ │ ├── net4_col.stl │ │ │ │ │ │ │ └── puck.stl │ │ │ │ │ │ ├── shelf │ │ │ │ │ │ │ ├── shelf.stl │ │ │ │ │ │ │ └── shelf_supports.stl │ │ │ │ │ │ ├── shelfb │ │ │ │ │ │ │ ├── shelf_0.stl │ │ │ │ │ │ │ ├── shelf_1.stl │ │ │ │ │ │ │ └── shelf_frame.stl │ │ │ │ │ │ ├── soccer │ │ │ │ │ │ │ ├── goal_col1.stl │ │ │ │ │ │ │ ├── goal_col2.stl │ │ │ │ │ │ │ ├── goal_col3.stl │ │ │ │ │ │ │ ├── goal_col4.stl │ │ │ │ │ │ │ ├── soccer_black.stl │ │ │ │ │ │ │ ├── soccer_frame.stl │ │ │ │ │ │ │ ├── soccer_net.stl │ │ │ │ │ │ │ └── soccer_white.stl │ │ │ │ │ │ ├── stick │ │ │ │ │ │ │ └── stick.stl │ │ │ │ │ │ ├── table │ │ │ │ │ │ │ ├── table_hole.stl │ │ │ │ │ │ │ ├── table_hole2.stl │ │ │ │ │ │ │ ├── tablebody.stl │ │ │ │ │ │ │ └── tabletop.stl │ │ │ │ │ │ ├── thermos │ │ │ │ │ │ │ ├── therm_base.stl │ │ │ │ │ │ │ ├── therm_body.stl │ │ │ │ │ │ │ ├── therm_cap.stl │ │ │ │ │ │ │ ├── therm_handle.stl │ │ │ │ │ │ │ └── therm_trim.stl │ │ │ │ │ │ ├── window │ │ │ │ │ │ │ ├── window_base.stl │ │ │ │ │ │ │ ├── window_frame.stl │ │ │ │ │ │ │ ├── window_h_base.stl │ │ │ │ │ │ │ ├── window_h_frame.stl │ │ │ │ │ │ │ ├── windowa_frame.stl │ │ │ │ │ │ │ ├── windowa_glass.stl │ │ │ │ │ │ │ ├── windowa_h_frame.stl │ │ │ │ │ │ │ ├── windowa_h_glass.stl │ │ │ │ │ │ │ ├── windowb_frame.stl │ │ │ │ │ │ │ ├── windowb_glass.stl │ │ │ │ │ │ │ ├── windowb_h_frame.stl │ │ │ │ │ │ │ └── windowb_h_glass.stl │ │ │ │ │ │ └── xyz_base │ │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ │ ├── eGripperBase.stl │ │ │ │ │ │ │ ├── head.stl │ │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ │ ├── l1.stl │ │ │ │ │ │ │ ├── l2.stl │ │ │ │ │ │ │ ├── l3.stl │ │ │ │ │ │ │ ├── l4.stl │ │ │ │ │ │ │ ├── l5.stl │ │ │ │ │ │ │ ├── l6.stl │ │ │ │ │ │ │ └── pedestal.stl │ │ │ │ │ ├── mug.xml │ │ │ │ │ ├── objA.xml │ │ │ │ │ ├── peg_block.xml │ │ │ │ │ ├── peg_insert.xml │ │ │ │ │ ├── plug.xml │ │ │ │ │ ├── plug_wall.xml │ │ │ │ │ ├── puck.xml │ │ │ │ │ ├── puck_goal.xml │ │ │ │ │ ├── shelf.xml │ │ │ │ │ ├── shelfb.xml │ │ │ │ │ ├── soccer_ball.xml │ │ │ │ │ ├── soccer_goal.xml │ │ │ │ │ ├── sphere.xml │ │ │ │ │ ├── stick.xml │ │ │ │ │ ├── table.xml │ │ │ │ │ ├── table_hole.xml │ │ │ │ │ ├── thermos.xml │ │ │ │ │ ├── wall.xml │ │ │ │ │ ├── window.xml │ │ │ │ │ ├── window_horiz.xml │ │ │ │ │ └── xyz_base.xml │ │ │ │ ├── sawyer_xyz │ │ │ │ │ ├── sawyer_assembly_peg.xml │ │ │ │ │ ├── sawyer_basketball.xml │ │ │ │ │ ├── sawyer_bin_picking.xml │ │ │ │ │ ├── sawyer_box.xml │ │ │ │ │ ├── sawyer_button_press.xml │ │ │ │ │ ├── sawyer_button_press_topdown.xml │ │ │ │ │ ├── sawyer_button_press_topdown_wall.xml │ │ │ │ │ ├── sawyer_button_press_wall.xml │ │ │ │ │ ├── sawyer_coffee.xml │ │ │ │ │ ├── sawyer_dial.xml │ │ │ │ │ ├── sawyer_door_lock.xml │ │ │ │ │ ├── sawyer_door_pull.xml │ │ │ │ │ ├── sawyer_drawer.xml │ │ │ │ │ ├── sawyer_faucet.xml │ │ │ │ │ ├── sawyer_hammer.xml │ │ │ │ │ ├── sawyer_handle_press.xml │ │ │ │ │ ├── sawyer_handle_press_sideways.xml │ │ │ │ │ ├── sawyer_laptop.xml │ │ │ │ │ ├── sawyer_lever_pull.xml │ │ │ │ │ ├── sawyer_peg_insertion_side.xml │ │ │ │ │ ├── sawyer_peg_unplug_side.xml │ │ │ │ │ ├── sawyer_pick_and_place.xml │ │ │ │ │ ├── sawyer_pick_out_of_hole.xml │ │ │ │ │ ├── sawyer_pick_place_v2.xml │ │ │ │ │ ├── sawyer_pick_place_wall_v2.xml │ │ │ │ │ ├── sawyer_plate_slide.xml │ │ │ │ │ ├── sawyer_plate_slide_sideway.xml │ │ │ │ │ ├── sawyer_push_back_v2.xml │ │ │ │ │ ├── sawyer_push_v2.xml │ │ │ │ │ ├── sawyer_push_wall_v2.xml │ │ │ │ │ ├── sawyer_reach_push_pick_and_place.xml │ │ │ │ │ ├── sawyer_reach_push_pick_and_place_wall.xml │ │ │ │ │ ├── sawyer_reach_v2.xml │ │ │ │ │ ├── sawyer_reach_wall_v2.xml │ │ │ │ │ ├── sawyer_shelf_placing.xml │ │ │ │ │ ├── sawyer_shelf_removing.xml │ │ │ │ │ ├── sawyer_soccer.xml │ │ │ │ │ ├── sawyer_stick_obj.xml │ │ │ │ │ ├── sawyer_sweep_tool.xml │ │ │ │ │ ├── sawyer_sweep_v2.xml │ │ │ │ │ ├── sawyer_table_with_hole.xml │ │ │ │ │ ├── sawyer_table_with_hole_no_puck.xml │ │ │ │ │ ├── sawyer_window.xml │ │ │ │ │ └── sawyer_window_horizontal.xml │ │ │ │ ├── scene │ │ │ │ │ ├── basic_scene.xml │ │ │ │ │ ├── basic_scene_b.xml │ │ │ │ │ ├── basic_scene_c.xml │ │ │ │ │ └── textures │ │ │ │ │ │ ├── fabricPattern.png │ │ │ │ │ │ ├── fabricPlain.png │ │ │ │ │ │ ├── height1.png │ │ │ │ │ │ ├── metal.png │ │ │ │ │ │ ├── metal1.png │ │ │ │ │ │ ├── plaster.png │ │ │ │ │ │ ├── white_marble_tile.png │ │ │ │ │ │ ├── white_marble_tile2.png │ │ │ │ │ │ ├── wood.png │ │ │ │ │ │ └── wood2.png │ │ │ │ └── textures │ │ │ │ │ ├── brick1.png │ │ │ │ │ ├── darkwood.png │ │ │ │ │ ├── floor1.png │ │ │ │ │ ├── floor2.png │ │ │ │ │ ├── granite.png │ │ │ │ │ ├── light_wood.png │ │ │ │ │ ├── light_wood_v2.png │ │ │ │ │ ├── light_wood_v3.jpeg │ │ │ │ │ ├── light_wood_v3.png │ │ │ │ │ ├── marble.png │ │ │ │ │ ├── metal.png │ │ │ │ │ ├── metal1.png │ │ │ │ │ ├── metal2.png │ │ │ │ │ ├── navy_blue.png │ │ │ │ │ ├── plaster1.png │ │ │ │ │ ├── real_door.png │ │ │ │ │ ├── tennis.png │ │ │ │ │ ├── wood.png │ │ │ │ │ ├── wood1.png │ │ │ │ │ ├── wood2.png │ │ │ │ │ ├── wood3.png │ │ │ │ │ ├── wood4.png │ │ │ │ │ └── wood_light.png │ │ │ ├── mujoco │ │ │ │ ├── __init__.py │ │ │ │ ├── env_dict.py │ │ │ │ ├── mujoco_env.py │ │ │ │ ├── sawyer_xyz │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── sawyer_xyz_env.py │ │ │ │ │ ├── v1 │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── sawyer_assembly_peg.py │ │ │ │ │ │ ├── sawyer_basketball.py │ │ │ │ │ │ ├── sawyer_bin_picking.py │ │ │ │ │ │ ├── sawyer_box_close.py │ │ │ │ │ │ ├── sawyer_button_press.py │ │ │ │ │ │ ├── sawyer_button_press_topdown.py │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall.py │ │ │ │ │ │ ├── sawyer_button_press_wall.py │ │ │ │ │ │ ├── sawyer_coffee_button.py │ │ │ │ │ │ ├── sawyer_coffee_pull.py │ │ │ │ │ │ ├── sawyer_coffee_push.py │ │ │ │ │ │ ├── sawyer_dial_turn.py │ │ │ │ │ │ ├── sawyer_disassemble_peg.py │ │ │ │ │ │ ├── sawyer_door.py │ │ │ │ │ │ ├── sawyer_door_close.py │ │ │ │ │ │ ├── sawyer_door_lock.py │ │ │ │ │ │ ├── sawyer_door_unlock.py │ │ │ │ │ │ ├── sawyer_drawer_close.py │ │ │ │ │ │ ├── sawyer_drawer_open.py │ │ │ │ │ │ ├── sawyer_faucet_close.py │ │ │ │ │ │ ├── sawyer_faucet_open.py │ │ │ │ │ │ ├── sawyer_hammer.py │ │ │ │ │ │ ├── sawyer_hand_insert.py │ │ │ │ │ │ ├── sawyer_handle_press.py │ │ │ │ │ │ ├── sawyer_handle_press_side.py │ │ │ │ │ │ ├── sawyer_handle_pull.py │ │ │ │ │ │ ├── sawyer_handle_pull_side.py │ │ │ │ │ │ ├── sawyer_lever_pull.py │ │ │ │ │ │ ├── sawyer_peg_insertion_side.py │ │ │ │ │ │ ├── sawyer_peg_unplug_side.py │ │ │ │ │ │ ├── sawyer_pick_out_of_hole.py │ │ │ │ │ │ ├── sawyer_plate_slide.py │ │ │ │ │ │ ├── sawyer_plate_slide_back.py │ │ │ │ │ │ ├── sawyer_plate_slide_back_side.py │ │ │ │ │ │ ├── sawyer_plate_slide_side.py │ │ │ │ │ │ ├── sawyer_push_back.py │ │ │ │ │ │ ├── sawyer_reach_push_pick_place.py │ │ │ │ │ │ ├── sawyer_reach_push_pick_place_wall.py │ │ │ │ │ │ ├── sawyer_shelf_place.py │ │ │ │ │ │ ├── sawyer_soccer.py │ │ │ │ │ │ ├── sawyer_stick_pull.py │ │ │ │ │ │ ├── sawyer_stick_push.py │ │ │ │ │ │ ├── sawyer_sweep.py │ │ │ │ │ │ ├── sawyer_sweep_into_goal.py │ │ │ │ │ │ ├── sawyer_window_close.py │ │ │ │ │ │ └── sawyer_window_open.py │ │ │ │ │ ├── v2 │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── sawyer_assembly_peg_v2.py │ │ │ │ │ │ ├── sawyer_basketball_v2.py │ │ │ │ │ │ ├── sawyer_bin_picking_v2.py │ │ │ │ │ │ ├── sawyer_box_close_v2.py │ │ │ │ │ │ ├── sawyer_button_press_topdown_v2.py │ │ │ │ │ │ ├── sawyer_button_press_topdown_wall_v2.py │ │ │ │ │ │ ├── sawyer_button_press_v2.py │ │ │ │ │ │ ├── sawyer_button_press_wall_v2.py │ │ │ │ │ │ ├── sawyer_coffee_button_v2.py │ │ │ │ │ │ ├── sawyer_coffee_pull_v2.py │ │ │ │ │ │ ├── sawyer_coffee_push_v2.py │ │ │ │ │ │ ├── sawyer_dial_turn_v2.py │ │ │ │ │ │ ├── sawyer_disassemble_peg_v2.py │ │ │ │ │ │ ├── sawyer_door_close_v2.py │ │ │ │ │ │ ├── sawyer_door_lock_v2.py │ │ │ │ │ │ ├── sawyer_door_unlock_v2.py │ │ │ │ │ │ ├── sawyer_door_v2.py │ │ │ │ │ │ ├── sawyer_drawer_close_v2.py │ │ │ │ │ │ ├── sawyer_drawer_open_v2.py │ │ │ │ │ │ ├── sawyer_faucet_close_v2.py │ │ │ │ │ │ ├── sawyer_faucet_open_v2.py │ │ │ │ │ │ ├── sawyer_hammer_v2.py │ │ │ │ │ │ ├── sawyer_hand_insert_v2.py │ │ │ │ │ │ ├── sawyer_handle_press_side_v2.py │ │ │ │ │ │ ├── sawyer_handle_press_v2.py │ │ │ │ │ │ ├── sawyer_handle_pull_side_v2.py │ │ │ │ │ │ ├── sawyer_handle_pull_v2.py │ │ │ │ │ │ ├── sawyer_lever_pull_v2.py │ │ │ │ │ │ ├── sawyer_peg_insertion_side_v2.py │ │ │ │ │ │ ├── sawyer_peg_unplug_side_v2.py │ │ │ │ │ │ ├── sawyer_pick_out_of_hole_v2.py │ │ │ │ │ │ ├── sawyer_pick_place_v2.py │ │ │ │ │ │ ├── sawyer_pick_place_wall_v2.py │ │ │ │ │ │ ├── sawyer_plate_slide_back_side_v2.py │ │ │ │ │ │ ├── sawyer_plate_slide_back_v2.py │ │ │ │ │ │ ├── sawyer_plate_slide_side_v2.py │ │ │ │ │ │ ├── sawyer_plate_slide_v2.py │ │ │ │ │ │ ├── sawyer_push_back_v2.py │ │ │ │ │ │ ├── sawyer_push_v2.py │ │ │ │ │ │ ├── sawyer_push_wall_v2.py │ │ │ │ │ │ ├── sawyer_reach_v2.py │ │ │ │ │ │ ├── sawyer_reach_wall_v2.py │ │ │ │ │ │ ├── sawyer_shelf_place_v2.py │ │ │ │ │ │ ├── sawyer_soccer_v2.py │ │ │ │ │ │ ├── sawyer_stick_pull_v2.py │ │ │ │ │ │ ├── sawyer_stick_push_v2.py │ │ │ │ │ │ ├── sawyer_sweep_into_goal_v2.py │ │ │ │ │ │ ├── sawyer_sweep_v2.py │ │ │ │ │ │ ├── sawyer_window_close_v2.py │ │ │ │ │ │ └── sawyer_window_open_v2.py │ │ │ │ │ └── visual │ │ │ │ │ │ └── __init__.py │ │ │ │ └── utils │ │ │ │ │ └── rotation.py │ │ │ └── reward_utils.py │ │ └── policies │ │ │ ├── __init__.py │ │ │ ├── action.py │ │ │ ├── policy.py │ │ │ ├── sawyer_assembly_v1_policy.py │ │ │ ├── sawyer_assembly_v2_policy.py │ │ │ ├── sawyer_basketball_v1_policy.py │ │ │ ├── sawyer_basketball_v2_policy.py │ │ │ ├── sawyer_bin_picking_v2_policy.py │ │ │ ├── sawyer_box_close_v1_policy.py │ │ │ ├── sawyer_box_close_v2_policy.py │ │ │ ├── sawyer_button_press_topdown_v1_policy.py │ │ │ ├── sawyer_button_press_topdown_v2_policy.py │ │ │ ├── sawyer_button_press_topdown_wall_v1_policy.py │ │ │ ├── sawyer_button_press_topdown_wall_v2_policy.py │ │ │ ├── sawyer_button_press_v1_policy.py │ │ │ ├── sawyer_button_press_v2_policy.py │ │ │ ├── sawyer_button_press_wall_v1_policy.py │ │ │ ├── sawyer_button_press_wall_v2_policy.py │ │ │ ├── sawyer_coffee_button_v1_policy.py │ │ │ ├── sawyer_coffee_button_v2_policy.py │ │ │ ├── sawyer_coffee_pull_v1_policy.py │ │ │ ├── sawyer_coffee_pull_v2_policy.py │ │ │ ├── sawyer_coffee_push_v1_policy.py │ │ │ ├── sawyer_coffee_push_v2_policy.py │ │ │ ├── sawyer_dial_turn_v1_policy.py │ │ │ ├── sawyer_dial_turn_v2_policy.py │ │ │ ├── sawyer_disassemble_v1_policy.py │ │ │ ├── sawyer_disassemble_v2_policy.py │ │ │ ├── sawyer_door_close_v1_policy.py │ │ │ ├── sawyer_door_close_v2_policy.py │ │ │ ├── sawyer_door_lock_v1_policy.py │ │ │ ├── sawyer_door_lock_v2_policy.py │ │ │ ├── sawyer_door_open_v1_policy.py │ │ │ ├── sawyer_door_open_v2_policy.py │ │ │ ├── sawyer_door_unlock_v1_policy.py │ │ │ ├── sawyer_door_unlock_v2_policy.py │ │ │ ├── sawyer_drawer_close_v1_policy.py │ │ │ ├── sawyer_drawer_close_v2_policy.py │ │ │ ├── sawyer_drawer_open_v1_policy.py │ │ │ ├── sawyer_drawer_open_v2_policy.py │ │ │ ├── sawyer_faucet_close_v1_policy.py │ │ │ ├── sawyer_faucet_close_v2_policy.py │ │ │ ├── sawyer_faucet_open_v1_policy.py │ │ │ ├── sawyer_faucet_open_v2_policy.py │ │ │ ├── sawyer_hammer_v1_policy.py │ │ │ ├── sawyer_hammer_v2_policy.py │ │ │ ├── sawyer_hand_insert_v1_policy.py │ │ │ ├── sawyer_hand_insert_v2_policy.py │ │ │ ├── sawyer_handle_press_side_v2_policy.py │ │ │ ├── sawyer_handle_press_v1_policy.py │ │ │ ├── sawyer_handle_press_v2_policy.py │ │ │ ├── sawyer_handle_pull_side_v1_policy.py │ │ │ ├── sawyer_handle_pull_side_v2_policy.py │ │ │ ├── sawyer_handle_pull_v1_policy.py │ │ │ ├── sawyer_handle_pull_v2_policy.py │ │ │ ├── sawyer_lever_pull_v2_policy.py │ │ │ ├── sawyer_peg_insertion_side_v2_policy.py │ │ │ ├── sawyer_peg_unplug_side_v1_policy.py │ │ │ ├── sawyer_peg_unplug_side_v2_policy.py │ │ │ ├── sawyer_pick_out_of_hole_v1_policy.py │ │ │ ├── sawyer_pick_out_of_hole_v2_policy.py │ │ │ ├── sawyer_pick_place_v2_policy.py │ │ │ ├── sawyer_pick_place_wall_v2_policy.py │ │ │ ├── sawyer_plate_slide_back_side_v2_policy.py │ │ │ ├── sawyer_plate_slide_back_v1_policy.py │ │ │ ├── sawyer_plate_slide_back_v2_policy.py │ │ │ ├── sawyer_plate_slide_side_v1_policy.py │ │ │ ├── sawyer_plate_slide_side_v2_policy.py │ │ │ ├── sawyer_plate_slide_v1_policy.py │ │ │ ├── sawyer_plate_slide_v2_policy.py │ │ │ ├── sawyer_push_back_v1_policy.py │ │ │ ├── sawyer_push_back_v2_policy.py │ │ │ ├── sawyer_push_v2_policy.py │ │ │ ├── sawyer_push_wall_v2_policy.py │ │ │ ├── sawyer_reach_v2_policy.py │ │ │ ├── sawyer_reach_wall_v2_policy.py │ │ │ ├── sawyer_shelf_place_v1_policy.py │ │ │ ├── sawyer_shelf_place_v2_policy.py │ │ │ ├── sawyer_soccer_v1_policy.py │ │ │ ├── sawyer_soccer_v2_policy.py │ │ │ ├── sawyer_stick_pull_v1_policy.py │ │ │ ├── sawyer_stick_pull_v2_policy.py │ │ │ ├── sawyer_stick_push_v1_policy.py │ │ │ ├── sawyer_stick_push_v2_policy.py │ │ │ ├── sawyer_sweep_into_v1_policy.py │ │ │ ├── sawyer_sweep_into_v2_policy.py │ │ │ ├── sawyer_sweep_v1_policy.py │ │ │ ├── sawyer_sweep_v2_policy.py │ │ │ ├── sawyer_window_close_v2_policy.py │ │ │ └── sawyer_window_open_v2_policy.py │ ├── setup.cfg │ └── setup.py ├── VRL3 │ ├── .gitignore │ ├── LICENSE │ └── src │ │ ├── .gitignore │ │ ├── adroit.py │ │ ├── cfgs_adroit │ │ ├── config.yaml │ │ └── task │ │ │ ├── door.yaml │ │ │ ├── hammer.yaml │ │ │ ├── pen.yaml │ │ │ └── relocate.yaml │ │ ├── dmc.py │ │ ├── gen_demonstration_expert.py │ │ ├── logger.py │ │ ├── replay_buffer.py │ │ ├── rrl_local │ │ ├── rrl_encoder.py │ │ ├── rrl_multicam.py │ │ └── rrl_utils.py │ │ ├── stage1_models.py │ │ ├── train_adroit.py │ │ ├── train_stage1.py │ │ ├── transfer_util.py │ │ ├── utils.py │ │ ├── video.py │ │ └── vrl3_agent.py ├── dexart-release │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── dexart │ │ ├── env │ │ │ ├── create_env.py │ │ │ ├── rl_env │ │ │ │ ├── base.py │ │ │ │ ├── bucket_env.py │ │ │ │ ├── faucet_env.py │ │ │ │ ├── laptop_env.py │ │ │ │ ├── pc_processing.py │ │ │ │ └── toilet_env.py │ │ │ ├── sim_env │ │ │ │ ├── base.py │ │ │ │ ├── bucket_env.py │ │ │ │ ├── constructor.py │ │ │ │ ├── faucet_env.py │ │ │ │ ├── laptop_env.py │ │ │ │ └── toilet_env.py │ │ │ └── task_setting.py │ │ └── utils │ │ │ ├── camera_utils.py │ │ │ ├── common_robot_utils.py │ │ │ ├── kinematics_helper.py │ │ │ ├── mesh_utils.py │ │ │ ├── model_utils.py │ │ │ ├── physical_scene_utils.py │ │ │ ├── random_utils.py │ │ │ └── render_scene_utils.py │ ├── examples │ │ ├── gen_demonstration_expert.py │ │ ├── train.py │ │ └── utils.py │ ├── imgui.ini │ ├── setup.py │ └── stable_baselines3 │ │ ├── __init__.py │ │ ├── a2c │ │ ├── __init__.py │ │ ├── a2c.py │ │ └── policies.py │ │ ├── common │ │ ├── __init__.py │ │ ├── base_class.py │ │ ├── buffers.py │ │ ├── callbacks.py │ │ ├── distributions.py │ │ ├── env_util.py │ │ ├── evaluation.py │ │ ├── logger.py │ │ ├── monitor.py │ │ ├── noise.py │ │ ├── on_policy_algorithm.py │ │ ├── policies.py │ │ ├── preprocessing.py │ │ ├── running_mean_std.py │ │ ├── save_util.py │ │ ├── torch_layers.py │ │ ├── type_aliases.py │ │ ├── utils.py │ │ └── vec_env │ │ │ ├── __init__.py │ │ │ ├── base_vec_env.py │ │ │ ├── dummy_vec_env.py │ │ │ ├── maniskill2_utils_common.py │ │ │ ├── maniskill2_utils_wrappers_obs.py │ │ │ ├── maniskill2_vec_env.py │ │ │ ├── maniskill2_wrapper_obs.py │ │ │ ├── stacked_observations.py │ │ │ ├── subproc_vec_env.py │ │ │ ├── util.py │ │ │ ├── vec_check_nan.py │ │ │ ├── vec_extract_dict_obs.py │ │ │ ├── vec_frame_stack.py │ │ │ ├── vec_monitor.py │ │ │ ├── vec_normalize.py │ │ │ ├── vec_transpose.py │ │ │ └── vec_video_recorder.py │ │ ├── networks │ │ └── pretrain_nets.py │ │ ├── pickle_utils.py │ │ ├── ppo │ │ ├── __init__.py │ │ ├── policies.py │ │ └── ppo.py │ │ ├── py.typed │ │ └── version.txt ├── gym-0.21.0 │ ├── .github │ │ ├── ISSUE_TEMPLATE │ │ │ ├── bug.md │ │ │ ├── proposal.md │ │ │ └── question.md │ │ ├── stale.yml │ │ └── workflows │ │ │ ├── build.yml │ │ │ ├── lint_python.yml │ │ │ └── pre-commit.yml │ ├── .gitignore │ ├── CODE_OF_CONDUCT.rst │ ├── CONTRIBUTING.md │ ├── LICENSE.md │ ├── README.md │ ├── bin │ │ └── docker_entrypoint │ ├── docs │ │ ├── api.md │ │ ├── creating_environments.md │ │ ├── third_party_environments.md │ │ ├── toy_text │ │ │ ├── blackjack.md │ │ │ ├── frozen_lake.md │ │ │ └── taxi.md │ │ ├── tutorials.md │ │ └── wrappers.md │ ├── gym │ │ ├── __init__.py │ │ ├── core.py │ │ ├── envs │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── box2d │ │ │ │ ├── __init__.py │ │ │ │ ├── bipedal_walker.py │ │ │ │ ├── car_dynamics.py │ │ │ │ ├── car_racing.py │ │ │ │ └── lunar_lander.py │ │ │ ├── classic_control │ │ │ │ ├── __init__.py │ │ │ │ ├── acrobot.py │ │ │ │ ├── assets │ │ │ │ │ └── clockwise.png │ │ │ │ ├── cartpole.py │ │ │ │ ├── continuous_mountain_car.py │ │ │ │ ├── mountain_car.py │ │ │ │ ├── pendulum.py │ │ │ │ └── rendering.py │ │ │ ├── mujoco │ │ │ │ ├── __init__.py │ │ │ │ ├── ant.py │ │ │ │ ├── ant_v3.py │ │ │ │ ├── assets │ │ │ │ │ ├── ant.xml │ │ │ │ │ ├── half_cheetah.xml │ │ │ │ │ ├── hopper.xml │ │ │ │ │ ├── humanoid.xml │ │ │ │ │ ├── humanoidstandup.xml │ │ │ │ │ ├── inverted_double_pendulum.xml │ │ │ │ │ ├── inverted_pendulum.xml │ │ │ │ │ ├── point.xml │ │ │ │ │ ├── pusher.xml │ │ │ │ │ ├── reacher.xml │ │ │ │ │ ├── striker.xml │ │ │ │ │ ├── swimmer.xml │ │ │ │ │ ├── thrower.xml │ │ │ │ │ └── walker2d.xml │ │ │ │ ├── half_cheetah.py │ │ │ │ ├── half_cheetah_v3.py │ │ │ │ ├── hopper.py │ │ │ │ ├── hopper_v3.py │ │ │ │ ├── humanoid.py │ │ │ │ ├── humanoid_v3.py │ │ │ │ ├── humanoidstandup.py │ │ │ │ ├── inverted_double_pendulum.py │ │ │ │ ├── inverted_pendulum.py │ │ │ │ ├── mujoco_env.py │ │ │ │ ├── pusher.py │ │ │ │ ├── reacher.py │ │ │ │ ├── striker.py │ │ │ │ ├── swimmer.py │ │ │ │ ├── swimmer_v3.py │ │ │ │ ├── thrower.py │ │ │ │ ├── walker2d.py │ │ │ │ └── walker2d_v3.py │ │ │ ├── registration.py │ │ │ ├── robotics │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── assets │ │ │ │ │ ├── LICENSE.md │ │ │ │ │ ├── fetch │ │ │ │ │ │ ├── pick_and_place.xml │ │ │ │ │ │ ├── push.xml │ │ │ │ │ │ ├── reach.xml │ │ │ │ │ │ ├── robot.xml │ │ │ │ │ │ ├── shared.xml │ │ │ │ │ │ └── slide.xml │ │ │ │ │ ├── hand │ │ │ │ │ │ ├── manipulate_block.xml │ │ │ │ │ │ ├── manipulate_block_touch_sensors.xml │ │ │ │ │ │ ├── manipulate_egg.xml │ │ │ │ │ │ ├── manipulate_egg_touch_sensors.xml │ │ │ │ │ │ ├── manipulate_pen.xml │ │ │ │ │ │ ├── manipulate_pen_touch_sensors.xml │ │ │ │ │ │ ├── reach.xml │ │ │ │ │ │ ├── robot.xml │ │ │ │ │ │ ├── robot_touch_sensors_92.xml │ │ │ │ │ │ ├── shared.xml │ │ │ │ │ │ ├── shared_asset.xml │ │ │ │ │ │ └── shared_touch_sensors_92.xml │ │ │ │ │ ├── stls │ │ │ │ │ │ ├── .get │ │ │ │ │ │ ├── fetch │ │ │ │ │ │ │ ├── base_link_collision.stl │ │ │ │ │ │ │ ├── bellows_link_collision.stl │ │ │ │ │ │ │ ├── elbow_flex_link_collision.stl │ │ │ │ │ │ │ ├── estop_link.stl │ │ │ │ │ │ │ ├── forearm_roll_link_collision.stl │ │ │ │ │ │ │ ├── gripper_link.stl │ │ │ │ │ │ │ ├── head_pan_link_collision.stl │ │ │ │ │ │ │ ├── head_tilt_link_collision.stl │ │ │ │ │ │ │ ├── l_wheel_link_collision.stl │ │ │ │ │ │ │ ├── laser_link.stl │ │ │ │ │ │ │ ├── r_wheel_link_collision.stl │ │ │ │ │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ │ │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ │ │ │ │ ├── torso_fixed_link.stl │ │ │ │ │ │ │ ├── torso_lift_link_collision.stl │ │ │ │ │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ │ │ │ │ ├── wrist_flex_link_collision.stl │ │ │ │ │ │ │ └── wrist_roll_link_collision.stl │ │ │ │ │ │ └── hand │ │ │ │ │ │ │ ├── F1.stl │ │ │ │ │ │ │ ├── F2.stl │ │ │ │ │ │ │ ├── F3.stl │ │ │ │ │ │ │ ├── TH1_z.stl │ │ │ │ │ │ │ ├── TH2_z.stl │ │ │ │ │ │ │ ├── TH3_z.stl │ │ │ │ │ │ │ ├── forearm_electric.stl │ │ │ │ │ │ │ ├── forearm_electric_cvx.stl │ │ │ │ │ │ │ ├── knuckle.stl │ │ │ │ │ │ │ ├── lfmetacarpal.stl │ │ │ │ │ │ │ ├── palm.stl │ │ │ │ │ │ │ └── wrist.stl │ │ │ │ │ └── textures │ │ │ │ │ │ ├── block.png │ │ │ │ │ │ └── block_hidden.png │ │ │ │ ├── fetch │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── pick_and_place.py │ │ │ │ │ ├── push.py │ │ │ │ │ ├── reach.py │ │ │ │ │ └── slide.py │ │ │ │ ├── fetch_env.py │ │ │ │ ├── hand │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── manipulate.py │ │ │ │ │ ├── manipulate_touch_sensors.py │ │ │ │ │ └── reach.py │ │ │ │ ├── hand_env.py │ │ │ │ ├── robot_env.py │ │ │ │ ├── rotations.py │ │ │ │ └── utils.py │ │ │ ├── toy_text │ │ │ │ ├── __init__.py │ │ │ │ ├── blackjack.py │ │ │ │ ├── cliffwalking.py │ │ │ │ ├── discrete.py │ │ │ │ ├── frozen_lake.py │ │ │ │ └── taxi.py │ │ │ └── unittest │ │ │ │ ├── __init__.py │ │ │ │ ├── cube_crash.py │ │ │ │ └── memorize_digits.py │ │ ├── error.py │ │ ├── logger.py │ │ ├── spaces │ │ │ ├── __init__.py │ │ │ ├── box.py │ │ │ ├── dict.py │ │ │ ├── discrete.py │ │ │ ├── multi_binary.py │ │ │ ├── multi_discrete.py │ │ │ ├── space.py │ │ │ ├── tuple.py │ │ │ └── utils.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── atomic_write.py │ │ │ ├── closer.py │ │ │ ├── colorize.py │ │ │ ├── env_checker.py │ │ │ ├── ezpickle.py │ │ │ ├── json_utils.py │ │ │ ├── play.py │ │ │ └── seeding.py │ │ ├── vector │ │ │ ├── __init__.py │ │ │ ├── async_vector_env.py │ │ │ ├── sync_vector_env.py │ │ │ ├── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── misc.py │ │ │ │ ├── numpy_utils.py │ │ │ │ ├── shared_memory.py │ │ │ │ └── spaces.py │ │ │ └── vector_env.py │ │ ├── version.py │ │ └── wrappers │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── atari_preprocessing.py │ │ │ ├── clip_action.py │ │ │ ├── filter_observation.py │ │ │ ├── flatten_observation.py │ │ │ ├── frame_stack.py │ │ │ ├── gray_scale_observation.py │ │ │ ├── monitor.py │ │ │ ├── monitoring │ │ │ ├── __init__.py │ │ │ ├── stats_recorder.py │ │ │ └── video_recorder.py │ │ │ ├── normalize.py │ │ │ ├── order_enforcing.py │ │ │ ├── pixel_observation.py │ │ │ ├── record_episode_statistics.py │ │ │ ├── record_video.py │ │ │ ├── rescale_action.py │ │ │ ├── resize_observation.py │ │ │ ├── time_aware_observation.py │ │ │ ├── time_limit.py │ │ │ ├── transform_observation.py │ │ │ └── transform_reward.py │ ├── requirements.txt │ ├── scripts │ │ └── generate_json.py │ ├── setup.py │ ├── test_requirements.txt │ └── tests │ │ ├── __init__.py │ │ ├── envs │ │ ├── __init__.py │ │ ├── robotics │ │ │ ├── __init__.py │ │ │ └── hand │ │ │ │ ├── __init__.py │ │ │ │ ├── test_manipulate.py │ │ │ │ ├── test_manipulate_touch_sensors.py │ │ │ │ └── test_reach.py │ │ ├── rollout.json │ │ ├── spec_list.py │ │ ├── test_atari_legacy_env_specs.py │ │ ├── test_determinism.py │ │ ├── test_envs.py │ │ ├── test_envs_semantics.py │ │ ├── test_frozenlake_dfs.py │ │ ├── test_lunar_lander.py │ │ ├── test_mujoco_v2_to_v3_conversion.py │ │ └── test_registration.py │ │ ├── spaces │ │ ├── __init__.py │ │ ├── test_spaces.py │ │ └── test_utils.py │ │ ├── test_core.py │ │ ├── utils │ │ ├── __init__.py │ │ ├── test_atexit.py │ │ ├── test_env_checker.py │ │ └── test_seeding.py │ │ ├── vector │ │ ├── __init__.py │ │ ├── test_async_vector_env.py │ │ ├── test_numpy_utils.py │ │ ├── test_shared_memory.py │ │ ├── test_spaces.py │ │ ├── test_sync_vector_env.py │ │ ├── test_vector_env.py │ │ ├── test_vector_env_wrapper.py │ │ └── utils.py │ │ └── wrappers │ │ ├── __init__.py │ │ ├── flatten_test.py │ │ ├── monitoring │ │ ├── __init__.py │ │ ├── helpers.py │ │ └── test_video_recorder.py │ │ ├── nested_dict_test.py │ │ ├── test_atari_preprocessing.py │ │ ├── test_clip_action.py │ │ ├── test_filter_observation.py │ │ ├── test_flatten_observation.py │ │ ├── test_frame_stack.py │ │ ├── test_gray_scale_observation.py │ │ ├── test_normalize.py │ │ ├── test_pixel_observation.py │ │ ├── test_record_episode_statistics.py │ │ ├── test_record_video.py │ │ ├── test_rescale_action.py │ │ ├── test_resize_observation.py │ │ ├── test_time_aware_observation.py │ │ ├── test_transform_observation.py │ │ └── test_transform_reward.py ├── mujoco-py-2.1.2.14 │ ├── .dockerignore │ ├── .github │ │ └── ISSUE_TEMPLATE │ │ │ └── bug_report.md │ ├── .gitignore │ ├── .travis.yml │ ├── Dockerfile │ ├── LICENSE.md │ ├── MANIFEST.in │ ├── Makefile │ ├── README.md │ ├── docs │ │ ├── .nojekyll │ │ ├── Makefile │ │ ├── _static │ │ │ └── .gitkeep │ │ ├── _templates │ │ │ └── .gitkeep │ │ ├── build │ │ │ ├── doctrees │ │ │ │ ├── environment.pickle │ │ │ │ ├── index.doctree │ │ │ │ ├── internals.doctree │ │ │ │ └── reference.doctree │ │ │ └── html │ │ │ │ ├── .buildinfo │ │ │ │ ├── _sources │ │ │ │ ├── index.rst.txt │ │ │ │ ├── internals.rst.txt │ │ │ │ └── reference.rst.txt │ │ │ │ ├── _static │ │ │ │ ├── ajax-loader.gif │ │ │ │ ├── basic.css │ │ │ │ ├── comment-bright.png │ │ │ │ ├── comment-close.png │ │ │ │ ├── comment.png │ │ │ │ ├── css │ │ │ │ │ ├── badge_only.css │ │ │ │ │ └── theme.css │ │ │ │ ├── doctools.js │ │ │ │ ├── down-pressed.png │ │ │ │ ├── down.png │ │ │ │ ├── file.png │ │ │ │ ├── fonts │ │ │ │ │ ├── Inconsolata-Bold.ttf │ │ │ │ │ ├── Inconsolata-Regular.ttf │ │ │ │ │ ├── Lato-Bold.ttf │ │ │ │ │ ├── Lato-Regular.ttf │ │ │ │ │ ├── RobotoSlab-Bold.ttf │ │ │ │ │ ├── RobotoSlab-Regular.ttf │ │ │ │ │ ├── fontawesome-webfont.eot │ │ │ │ │ ├── fontawesome-webfont.svg │ │ │ │ │ ├── fontawesome-webfont.ttf │ │ │ │ │ └── fontawesome-webfont.woff │ │ │ │ ├── jquery-3.1.0.js │ │ │ │ ├── jquery.js │ │ │ │ ├── js │ │ │ │ │ ├── modernizr.min.js │ │ │ │ │ └── theme.js │ │ │ │ ├── minus.png │ │ │ │ ├── plus.png │ │ │ │ ├── pygments.css │ │ │ │ ├── searchtools.js │ │ │ │ ├── underscore-1.3.1.js │ │ │ │ ├── underscore.js │ │ │ │ ├── up-pressed.png │ │ │ │ ├── up.png │ │ │ │ └── websupport.js │ │ │ │ ├── objects.inv │ │ │ │ └── searchindex.js │ │ ├── conf.py │ │ ├── index.rst │ │ ├── internals.rst │ │ └── reference.rst │ ├── examples │ │ ├── body_interaction.py │ │ ├── disco_fetch.py │ │ ├── internal_functions.py │ │ ├── markers_demo.py │ │ ├── mjvive.py │ │ ├── multigpu_rendering.py │ │ ├── render_callback.py │ │ ├── serialize_model.py │ │ ├── setting_state.py │ │ ├── substep_callback.py │ │ └── tosser.py │ ├── mujoco_py │ │ ├── __init__.py │ │ ├── builder.py │ │ ├── cymj.pyx │ │ ├── generated │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── const.py │ │ │ ├── mujocopy-buildlock │ │ │ └── wrappers.pxi │ │ ├── gl │ │ │ ├── __init__.py │ │ │ ├── dummyshim.c │ │ │ ├── egl.h │ │ │ ├── eglext.h │ │ │ ├── eglplatform.h │ │ │ ├── eglshim.c │ │ │ ├── glshim.h │ │ │ ├── khrplatform.h │ │ │ └── osmesashim.c │ │ ├── mjbatchrenderer.pyx │ │ ├── mjpid.pyx │ │ ├── mjrendercontext.pyx │ │ ├── mjrenderpool.py │ │ ├── mjsim.pyx │ │ ├── mjsimstate.pyx │ │ ├── mjviewer.py │ │ ├── modder.py │ │ ├── opengl_context.pyx │ │ ├── pxd │ │ │ ├── __init__.py │ │ │ ├── mjdata.pxd │ │ │ ├── mjmodel.pxd │ │ │ ├── mjrender.pxd │ │ │ ├── mjui.pxd │ │ │ ├── mjvisualize.pxd │ │ │ └── mujoco.pxd │ │ ├── test_imgs │ │ │ ├── test_glfw_context.png │ │ │ ├── test_materials.premod.png │ │ │ ├── test_materials.props.png │ │ │ ├── test_materials.rand_all.png │ │ │ ├── test_multiple_sims.loop0_0.png │ │ │ ├── test_multiple_sims.loop0_1.png │ │ │ ├── test_multiple_sims.loop1_0.png │ │ │ ├── test_multiple_sims.loop1_1.png │ │ │ ├── test_multiple_sims.loop2_0.png │ │ │ ├── test_multiple_sims.loop2_1.png │ │ │ ├── test_render_pool.mp_test_cameras.0.png │ │ │ ├── test_render_pool.mp_test_cameras.1.png │ │ │ ├── test_render_pool.mp_test_rendering.0.png │ │ │ ├── test_render_pool.mp_test_states.1.png │ │ │ ├── test_render_pool.mp_test_states.2.png │ │ │ ├── test_render_pool.mp_test_states.3.png │ │ │ ├── test_render_pool.mp_test_states.4.png │ │ │ ├── test_render_pool.mp_test_states.5.png │ │ │ ├── test_rendering.camera1.narrow.png │ │ │ ├── test_rendering.camera1.png │ │ │ ├── test_rendering.freecam.depth-darwin.png │ │ │ ├── test_rendering.freecam.depth.png │ │ │ ├── test_rendering.freecam.png │ │ │ ├── test_rendering_markers.camera1.png │ │ │ ├── test_resetting.loop0_0.png │ │ │ ├── test_resetting.loop0_1.png │ │ │ ├── test_resetting.loop1_0.png │ │ │ ├── test_resetting.loop1_1.png │ │ │ ├── test_resetting.loop2_0.png │ │ │ ├── test_resetting.loop2_1.png │ │ │ ├── test_textures.premod.png │ │ │ ├── test_textures.rand_all.png │ │ │ ├── test_textures.rand_specific.png │ │ │ ├── test_textures.rand_texrepeat.png │ │ │ ├── test_textures.rgb.png │ │ │ └── test_textures.variety.png │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── include.xml │ │ │ ├── test.xml │ │ │ ├── test_composite.py │ │ │ ├── test_cymj.py │ │ │ ├── test_examples.py │ │ │ ├── test_gen_wrappers.py │ │ │ ├── test_modder.py │ │ │ ├── test_opengl_context.py │ │ │ ├── test_pid.py │ │ │ ├── test_render_pool.py │ │ │ ├── test_substep.py │ │ │ ├── test_vfs.py │ │ │ ├── test_viewer.py │ │ │ └── utils.py │ │ ├── utils.py │ │ └── version.py │ ├── pyproject.toml │ ├── requirements.dev.txt │ ├── requirements.txt │ ├── scripts │ │ └── gen_wrappers.py │ ├── setup.py │ ├── vendor │ │ ├── 10_nvidia.json │ │ ├── Xdummy │ │ └── Xdummy-entrypoint │ └── xmls │ │ ├── claw.xml │ │ ├── door.xml │ │ ├── fetch │ │ ├── base_link_collision.stl │ │ ├── bellows_link_collision.stl │ │ ├── elbow_flex_link_collision.stl │ │ ├── estop_link.stl │ │ ├── forearm_roll_link_collision.stl │ │ ├── gripper_link.stl │ │ ├── head_pan_link_collision.stl │ │ ├── head_tilt_link_collision.stl │ │ ├── l_wheel_link_collision.stl │ │ ├── laser_link.stl │ │ ├── main.xml │ │ ├── r_wheel_link_collision.stl │ │ ├── shoulder_lift_link_collision.stl │ │ ├── shoulder_pan_link_collision.stl │ │ ├── torso_fixed_link.stl │ │ ├── torso_lift_link_collision.stl │ │ ├── upperarm_roll_link_collision.stl │ │ ├── wrist_flex_link_collision.stl │ │ └── wrist_roll_link_collision.stl │ │ ├── juggler.xml │ │ ├── key.xml │ │ ├── shelf.xml │ │ ├── slider.xml │ │ └── tosser.xml ├── pytorch3d_simplified │ ├── .gitignore │ ├── pytorch3d │ │ ├── __init__.py │ │ ├── csrc │ │ │ ├── ext.cpp │ │ │ ├── sample_farthest_points │ │ │ │ ├── sample_farthest_points.cu │ │ │ │ ├── sample_farthest_points.h │ │ │ │ └── sample_farthest_points_cpu.cpp │ │ │ └── utils │ │ │ │ ├── dispatch.cuh │ │ │ │ ├── float_math.cuh │ │ │ │ ├── geometry_utils.cuh │ │ │ │ ├── geometry_utils.h │ │ │ │ ├── index_utils.cuh │ │ │ │ ├── mink.cuh │ │ │ │ ├── pytorch3d_cutils.h │ │ │ │ ├── vec2.h │ │ │ │ ├── vec3.h │ │ │ │ └── warp_reduce.cuh │ │ └── ops │ │ │ ├── __init__.py │ │ │ └── sample_farthest_points.py │ └── setup.py └── rrl-dependencies │ ├── LICENSE │ ├── examples │ ├── config │ │ ├── door_dapg.yaml │ │ ├── hammer_dapg.yaml │ │ ├── pen_dapg.yaml │ │ └── relocate_dapg.yaml │ └── job_script.py │ ├── mj_envs │ ├── LICENSE │ ├── README.md │ ├── dependencies │ │ └── Adroit │ │ │ ├── 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 │ ├── mj_envs │ │ ├── __init__.py │ │ ├── hand_manipulation_suite │ │ │ ├── __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 │ │ └── utils │ │ │ ├── quatmath.py │ │ │ └── visualize_env.py │ └── setup.py │ ├── mjrl │ ├── LICENSE │ ├── README.md │ ├── examples │ │ ├── README.md │ │ ├── behavior_clone.py │ │ ├── example_configs │ │ │ ├── hopper_npg.txt │ │ │ ├── swimmer_npg.txt │ │ │ └── swimmer_ppo.txt │ │ ├── linear_nn_comparison.py │ │ └── policy_opt_job_script.py │ ├── mjrl │ │ ├── __init__.py │ │ ├── algos │ │ │ ├── __init__.py │ │ │ ├── batch_reinforce.py │ │ │ ├── behavior_cloning.py │ │ │ ├── dapg.py │ │ │ ├── mbac.py │ │ │ ├── model_accel │ │ │ │ ├── __init__.py │ │ │ │ ├── model_accel_npg.py │ │ │ │ ├── model_learning_mpc.py │ │ │ │ ├── nn_dynamics.py │ │ │ │ ├── run_experiments │ │ │ │ │ ├── configs │ │ │ │ │ │ ├── point_mass.txt │ │ │ │ │ │ └── reacher.txt │ │ │ │ │ ├── run_model_accel_npg.py │ │ │ │ │ ├── sandbox │ │ │ │ │ │ ├── example_config_mpc.txt │ │ │ │ │ │ └── run_model_learning_mpc.py │ │ │ │ │ └── utils │ │ │ │ │ │ ├── reward_functions │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── mjrl_point_mass.py │ │ │ │ │ │ ├── visualize_policy.py │ │ │ │ │ │ └── visualize_trajectories.py │ │ │ │ └── sampling.py │ │ │ ├── npg_cg.py │ │ │ ├── ppo_clip.py │ │ │ └── trpo.py │ │ ├── baselines │ │ │ ├── __init__.py │ │ │ ├── linear_baseline.py │ │ │ ├── mlp_baseline.py │ │ │ ├── quadratic_baseline.py │ │ │ └── zero_baseline.py │ │ ├── envs │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── peg_insertion.xml │ │ │ │ ├── point_mass.xml │ │ │ │ ├── sawyer.xml │ │ │ │ └── swimmer.xml │ │ │ ├── mujoco_env.py │ │ │ ├── peg_insertion_sawyer.py │ │ │ ├── point_mass.py │ │ │ ├── reacher_sawyer.py │ │ │ └── swimmer.py │ │ ├── policies │ │ │ ├── __init__.py │ │ │ ├── gaussian_linear.py │ │ │ ├── gaussian_mlp.py │ │ │ └── mpc_actor.py │ │ ├── samplers │ │ │ ├── __init__.py │ │ │ └── core.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── cg_solve.py │ │ │ ├── fc_network.py 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