├── .gitignore ├── LICENSE ├── MANIFEST.in ├── README.md ├── bin ├── meshconv └── vhacd ├── docs └── push_env.png ├── requirements.txt ├── robovat ├── __init__.py ├── envs │ ├── __init__.py │ ├── arm_env.py │ ├── grasp │ │ ├── __init__.py │ │ ├── grasp_2d.py │ │ ├── grasp_4dof_env.py │ │ ├── image_grasp_sampler.py │ │ └── visualize.py │ ├── push │ │ ├── __init__.py │ │ ├── heuristic_push_sampler.py │ │ ├── layouts.py │ │ └── push_env.py │ └── robot_env.py ├── io │ ├── __init__.py │ ├── episode_generation.py │ ├── hdf5_utils.py │ └── pickle_utils.py ├── math │ ├── __init__.py │ ├── euler.py │ ├── orientation.py │ ├── point.py │ ├── pose.py │ └── quaternion.py ├── observations │ ├── __init__.py │ ├── action_obs.py │ ├── attribute_obs.py │ ├── camera_obs.py │ ├── observation.py │ └── pose_obs.py ├── perception │ ├── __init__.py │ ├── camera │ │ ├── __init__.py │ │ ├── camera.py │ │ └── kinect2.py │ ├── depth_utils.py │ ├── image_utils.py │ └── point_cloud_utils.py ├── policies │ ├── __init__.py │ ├── grasp_policy.py │ ├── policy.py │ ├── push_policy.py │ └── random_policy.py ├── reward_fns │ ├── __init__.py │ ├── grasp_reward.py │ ├── push_reward.py │ └── reward_fn.py ├── robots │ ├── __init__.py │ ├── robot.py │ ├── robot_command.py │ └── sawyer │ │ ├── __init__.py │ │ ├── sawyer.py │ │ ├── sawyer_real.py │ │ └── sawyer_sim.py ├── simulation │ ├── __init__.py │ ├── base.py │ ├── body.py │ ├── camera │ │ ├── __init__.py │ │ └── bullet_camera.py │ ├── constraint.py │ ├── controllable_body.py │ ├── controllable_constraint.py │ ├── entity.py │ ├── joint.py │ ├── link.py │ ├── physics │ │ ├── __init__.py │ │ ├── bullet_physics.py │ │ └── physics.py │ └── simulator.py └── utils │ ├── __init__.py │ ├── logging.py │ ├── mesh_utils.py │ ├── string_utils.py │ ├── time_utils.py │ └── yaml_config.py ├── setup.py ├── third_party ├── __init__.py └── transformations.py └── tools ├── _init_paths.py ├── convert_obj_to_urdf.py ├── parallel_run.py ├── run_env.py ├── sawyer_cli.py 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