├── .gitignore ├── .pre-commit-config.yaml ├── DATASET.md ├── GETTING_STARTED.md ├── LICENSE ├── README.md ├── docs ├── .gitignore ├── Makefile ├── conf.py ├── images │ ├── layouts.png │ ├── mimicdroid-pullfigure.png │ ├── mimicdroid-train-all.png │ ├── robocasa-banner.jpg │ ├── styles.png │ └── tasks │ │ ├── CloseLeftCabinetDoor.png │ │ ├── CloseLeftCabinetDoorL2.png │ │ ├── CloseLeftCabinetDoorL2_eval.png │ │ ├── CloseLeftCabinetDoorL3.png │ │ ├── CloseLeftCabinetDoorL3_eval.png │ │ ├── CloseLeftCabinetDoor_eval.png │ │ ├── CloseRightCabinetDoorL2.png │ │ ├── CloseRightCabinetDoorL2_eval.png │ │ ├── PnPSinkToCabinet.png │ │ ├── PnPSinkToCabinetL2.png │ │ ├── PnPSinkToCabinetL2_eval.png │ │ ├── PnPSinkToCabinet_eval.png │ │ ├── PnPSinkToMicrowaveTopL3.png │ │ ├── PnPSinkToMicrowaveTopL3_eval.png │ │ ├── PnPSinkToRightCounterPlate.png │ │ ├── PnPSinkToRightCounterPlateL2.png │ │ ├── PnPSinkToRightCounterPlateL2_eval.png │ │ ├── PnPSinkToRightCounterPlateL3.png │ │ ├── PnPSinkToRightCounterPlateL3_eval.png │ │ ├── PnPSinkToRightCounterPlate_eval.png │ │ ├── TurnOnFaucet.png │ │ ├── TurnOnFaucetL3.png │ │ ├── TurnOnFaucetL3_eval.png │ │ └── TurnOnFaucet_eval.png ├── index.rst ├── introduction │ ├── basic_usage.md │ ├── codebase_overview.md │ ├── getting_started.md │ ├── installation.md │ ├── overview.md │ └── quick_start.md ├── make.bat ├── requirements-docs.txt ├── robocasa_logo.svg ├── tasks_scenes_assets │ ├── atomic_tasks.md │ ├── composite_tasks.md │ ├── kitchen_scenes.md │ ├── object_categories.md │ └── objects.md └── use_cases │ ├── basic_usage.md │ ├── creating_datasets.md │ ├── downloading_datasets.md │ ├── evaluation.md │ ├── policy_learning.md │ └── using_datasets.md ├── requirements.txt ├── robocasa ├── __init__.py ├── demos │ ├── demo_kitchen_scenes.py │ ├── demo_objects.py │ ├── demo_tasks.py │ └── demo_teleop.py ├── environments │ ├── __init__.py │ └── kitchen │ │ ├── __init__.py │ │ ├── kitchen.py │ │ ├── multi_stage │ │ ├── __init__.py │ │ ├── baking │ │ │ ├── __init__.py │ │ │ ├── cupcake_cleanup.py │ │ │ ├── organize_baking_ingredients.py │ │ │ └── pastry_display.py │ │ ├── boiling │ │ │ ├── __init__.py │ │ │ ├── fill_kettle.py │ │ │ ├── heat_multiple_water.py │ │ │ └── veggie_boil.py │ │ ├── brewing │ │ │ ├── __init__.py │ │ │ ├── arrange_tea.py │ │ │ ├── kettle_boiling.py │ │ │ └── prepare_coffee.py │ │ ├── chopping_food │ │ │ ├── __init__.py │ │ │ ├── arrange_vegetables.py │ │ │ ├── bread_setup_slicing.py │ │ │ ├── clearing_the_cutting_board.py │ │ │ ├── meat_transfer.py │ │ │ └── organize_vegetables.py │ │ ├── clearing_table │ │ │ ├── __init__.py │ │ │ ├── bowl_and_cup.py │ │ │ ├── candle_cleanup.py │ │ │ ├── clearing_cleaning_receptacles.py │ │ │ ├── condiment_collection.py │ │ │ ├── dessert_assembly.py │ │ │ ├── drinkware_consolidation.py │ │ │ └── food_cleanup.py │ │ ├── defrosting_food │ │ │ ├── __init__.py │ │ │ ├── defrost_by_category.py │ │ │ ├── microwave_thawing.py │ │ │ ├── quick_thaw.py │ │ │ └── thaw_in_sink.py │ │ ├── frying │ │ │ ├── __init__.py │ │ │ ├── assemble_cooking_array.py │ │ │ ├── frying_pan_adjustment.py │ │ │ ├── meal_prep_staging.py │ │ │ ├── searing_meat.py │ │ │ └── setup_frying.py │ │ ├── making_toast │ │ │ ├── __init__.py │ │ │ ├── bread_selection.py │ │ │ ├── cheesy_bread.py │ │ │ ├── prepare_toast.py │ │ │ └── sweet_savory_toast_setup.py │ │ ├── meat_preparation │ │ │ ├── __init__.py │ │ │ ├── prep_for_tenderizing.py │ │ │ └── prep_marinating_meat.py │ │ ├── mixing_and_blending │ │ │ ├── __init__.py │ │ │ ├── colorful_salsa.py │ │ │ ├── setup_juicing.py │ │ │ └── spicy_marinade.py │ │ ├── reheating_food │ │ │ ├── __init__.py │ │ │ ├── heat_mug.py │ │ │ ├── make_loaded_potato.py │ │ │ ├── simmering_sauce.py │ │ │ ├── waffle_reheat.py │ │ │ └── warm_croissant.py │ │ ├── restocking_supplies │ │ │ ├── __init__.py │ │ │ ├── beverage_sorting.py │ │ │ ├── restock_bowls.py │ │ │ ├── restock_pantry.py │ │ │ └── stocking_breakfast_foods.py │ │ ├── sanitize_surface │ │ │ ├── __init__.py │ │ │ ├── clean_microwave.py │ │ │ ├── countertop_cleanup.py │ │ │ ├── prep_for_sanitizing.py │ │ │ └── push_utensils_to_sink.py │ │ ├── serving_food │ │ │ ├── __init__.py │ │ │ ├── dessert_upgrade.py │ │ │ ├── pan_transfer.py │ │ │ ├── place_food_in_bowls.py │ │ │ ├── prepare_soup_serving.py │ │ │ ├── serve_steak.py │ │ │ └── wine_serving_prep.py │ │ ├── setting_the_table │ │ │ ├── __init__.py │ │ │ ├── arrange_bread_basket.py │ │ │ ├── beverage_organization.py │ │ │ ├── date_night.py │ │ │ ├── seasoning_spice_setup.py │ │ │ ├── set_bowls_for_soup.py │ │ │ └── size_sorting.py │ │ ├── snack_preparation │ │ │ ├── __init__.py │ │ │ ├── bread_and_cheese.py │ │ │ ├── cereal_and_bowl.py │ │ │ ├── make_fruit_bowl.py │ │ │ ├── veggie_dip_prep.py │ │ │ └── yogurt_delight_prep.py │ │ ├── steaming_food │ │ │ ├── __init__.py │ │ │ ├── multistep_steaming.py │ │ │ ├── steam_in_microwave.py │ │ │ └── steam_vegetables.py │ │ ├── tidying_cabinets_and_drawers │ │ │ ├── __init__.py │ │ │ ├── drawer_utensil_sort.py │ │ │ ├── organize_cleaning_supplies.py │ │ │ ├── pantry_mishap.py │ │ │ ├── shaker_shuffle.py │ │ │ └── snack_sorting.py │ │ ├── washing_dishes │ │ │ ├── __init__.py │ │ │ ├── dry_dishes.py │ │ │ ├── dry_drinkware.py │ │ │ ├── pre_soak_pan.py │ │ │ ├── sorting_cleanup.py │ │ │ └── stack_bowls.py │ │ └── washing_fruits_and_vegetables │ │ │ ├── __init__.py │ │ │ ├── afterwash_sorting.py │ │ │ ├── clear_clutter.py │ │ │ ├── drain_veggies.py │ │ │ └── prewash_food_assembly.py │ │ ├── play_env │ │ └── play_env.py │ │ └── single_stage │ │ ├── __init__.py │ │ ├── kitchen_coffee.py │ │ ├── kitchen_doors.py │ │ ├── kitchen_drawer.py │ │ ├── kitchen_microwave.py │ │ ├── kitchen_navigate.py │ │ ├── kitchen_pnp.py │ │ ├── kitchen_sink.py │ │ └── kitchen_stove.py ├── macros.py ├── models │ ├── __init__.py │ ├── assets │ │ ├── arenas │ │ │ └── empty_kitchen_arena.xml │ │ ├── fixtures │ │ │ ├── accessories │ │ │ │ ├── knife_blocks │ │ │ │ │ ├── dark_wood │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── fuji │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── knife_block_1 │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── light_wood │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── light_wood_2 │ │ │ │ │ │ └── model.xml │ │ │ │ │ └── light_wood_3 │ │ │ │ │ │ └── model.xml │ │ │ │ ├── light_switches │ │ │ │ │ └── white_wide_switch │ │ │ │ │ │ └── model.xml │ │ │ │ ├── outlets │ │ │ │ │ └── simple_white │ │ │ │ │ │ └── model.xml │ │ │ │ ├── paper_towel_holders │ │ │ │ │ ├── holder_1 │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── holder_2 │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── holder_3 │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── holder_4 │ │ │ │ │ │ └── model.xml │ │ │ │ │ └── holder_5 │ │ │ │ │ │ └── model.xml │ │ │ │ ├── plants │ │ │ │ │ ├── aloe │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── dodekaeder │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── senecio │ │ │ │ │ │ └── model.xml │ │ │ │ │ └── spikey_in_white_pot │ │ │ │ │ │ └── model.xml │ │ │ │ ├── stools │ │ │ │ │ ├── rattan_stool │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── stool_1_1 │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── stool_1_2 │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── stool_1_3 │ │ │ │ │ │ └── model.xml │ │ │ │ │ └── stool_2 │ │ │ │ │ │ └── model.xml │ │ │ │ ├── utensil_holders │ │ │ │ │ ├── holder_1 │ │ │ │ │ │ └── model.xml │ │ │ │ │ ├── holder_2 │ │ │ │ │ │ └── model.xml │ │ │ │ │ └── holder_3 │ │ │ │ │ │ └── model.xml │ │ │ │ └── utensil_racks │ │ │ │ │ ├── black_plastic │ │ │ │ │ └── model.xml │ │ │ │ │ ├── metal │ │ │ │ │ └── model.xml │ │ │ │ │ ├── metal_cg │ │ │ │ │ └── model.xml │ │ │ │ │ ├── metal_cg_2 │ │ │ │ │ └── model.xml │ │ │ │ │ └── rack_1 │ │ │ │ │ └── model.xml │ │ │ ├── cabinets │ │ │ │ ├── cabinet_hinge.xml │ │ │ │ ├── cabinet_housing.xml │ │ │ │ ├── cabinet_open.xml │ │ │ │ ├── cabinet_panels │ │ │ │ │ ├── divided_window.xml │ │ │ │ │ ├── full_window.xml │ │ │ │ │ ├── raised.xml │ │ │ │ │ ├── shaker.xml │ │ │ │ │ ├── shelf.xml │ │ │ │ │ └── slab.xml │ │ │ │ ├── cabinet_single.xml │ │ │ │ ├── drawer.xml │ │ │ │ └── panel.xml │ │ │ ├── coffee_machines │ │ │ │ ├── delonghi_espresso │ │ │ │ │ └── model.xml │ │ │ │ ├── delonghi_espresso_2 │ │ │ │ │ └── model.xml │ │ │ │ ├── nespresso │ │ │ │ │ └── model.xml │ │ │ │ └── white │ │ │ │ │ └── model.xml │ │ │ ├── counters │ │ │ │ ├── counter │ │ │ │ │ └── model.xml │ │ │ │ └── counter_with_opening │ │ │ │ │ └── model.xml │ │ │ ├── dishwashers │ │ │ │ ├── basic_stainless │ │ │ │ │ └── model.xml │ │ │ │ ├── pack_1 │ │ │ │ │ └── model.xml │ │ │ │ └── pack_2 │ │ │ │ │ └── model.xml │ │ │ ├── fixture_registry │ │ │ │ ├── cabinet.yaml │ │ │ │ ├── coffee_machine.yaml │ │ │ │ ├── counter.yaml │ │ │ │ ├── dishwasher.yaml │ │ │ │ ├── floor.yaml │ │ │ │ ├── framed_window.yaml │ │ │ │ ├── fridge.yaml │ │ │ │ ├── hood.yaml │ │ │ │ ├── knife_block.yaml │ │ │ │ ├── microwave.yaml │ │ │ │ ├── oven.yaml │ │ │ │ ├── paper_towel.yaml │ │ │ │ ├── plant.yaml │ │ │ │ ├── sink.yaml │ │ │ │ ├── stool.yaml │ │ │ │ ├── stove.yaml │ │ │ │ ├── stovetop.yaml │ │ │ │ ├── toaster.yaml │ │ │ │ ├── utensil_holder.yaml │ │ │ │ ├── utensil_rack.yaml │ │ │ │ ├── wall.yaml │ │ │ │ └── wall_accessory.yaml │ │ │ ├── fridges │ │ │ │ ├── four_doors │ │ │ │ │ └── model.xml │ │ │ │ ├── full_height_doors │ │ │ │ │ └── model.xml │ │ │ │ ├── modern │ │ │ │ │ └── model.xml │ │ │ │ ├── pack_1 │ │ │ │ │ └── model.xml │ │ │ │ └── pack_2 │ │ │ │ │ └── model.xml │ │ │ ├── handles │ │ │ │ ├── bar_handle.xml │ │ │ │ ├── boxed_handle.xml │ │ │ │ └── knob_handle.xml │ │ │ ├── hoods │ │ │ │ ├── pack_1 │ │ │ │ │ └── model.xml │ │ │ │ ├── pack_2 │ │ │ │ │ └── model.xml │ │ │ │ ├── simple_silver │ │ │ │ │ └── model.xml │ │ │ │ └── tall_stainless │ │ │ │ │ └── model.xml │ │ │ ├── microwaves │ │ │ │ ├── curved_door │ │ │ │ │ └── model.xml │ │ │ │ ├── gray │ │ │ │ │ └── model.xml │ │ │ │ ├── hamilton_beach │ │ │ │ │ └── model.xml │ │ │ │ ├── pack_1 │ │ │ │ │ └── model.xml │ │ │ │ ├── pack_2 │ │ │ │ │ └── model.xml │ │ │ │ ├── silver_black_metal │ │ │ │ │ └── model.xml │ │ │ │ ├── square_with_button │ │ │ │ │ └── model.xml │ │ │ │ └── standard │ │ │ │ │ └── model.xml │ │ │ ├── ovens │ │ │ │ ├── beko │ │ │ │ │ └── model.xml │ │ │ │ ├── bosch │ │ │ │ │ └── model.xml │ │ │ │ ├── gorenje │ │ │ │ │ └── model.xml │ │ │ │ ├── gorenje_dark │ │ │ │ │ └── model.xml │ │ │ │ ├── pack_1 │ │ │ │ │ └── model.xml │ │ │ │ └── westerfeld │ │ │ │ │ └── model.xml │ │ │ ├── sinks │ │ │ │ ├── 1.5_bins_storage_left_stainless │ │ │ │ │ └── model.xml │ │ │ │ ├── 1_bin_storage_left_white_silver │ │ │ │ │ └── model.xml │ │ │ │ ├── 1_bin_storage_right_dark │ │ │ │ │ └── model.xml │ │ │ │ ├── 1_bin_wide_top_handle │ │ │ │ │ └── model.xml │ │ │ │ ├── 2_bins_farmhouse │ │ │ │ │ └── model.xml │ │ │ │ ├── 2_bins_stainless │ │ │ │ │ └── model.xml │ │ │ │ ├── 2_bins_storage_left_stainless │ │ │ │ │ └── model.xml │ │ │ │ ├── brown_metal_sink │ │ │ │ │ └── model.xml │ │ │ │ ├── concrete_sink │ │ │ │ │ └── model.xml │ │ │ │ └── white_sink │ │ │ │ │ └── model.xml │ │ │ ├── stoves │ │ │ │ ├── basic_sleek_induc │ │ │ │ │ └── model.xml │ │ │ │ ├── coil_burners_induc │ │ │ │ │ └── model.xml │ │ │ │ ├── dual_gas │ │ │ │ │ └── model.xml │ │ │ │ ├── frigidaire_gas │ │ │ │ │ └── model.xml │ │ │ │ ├── simple_gas │ │ │ │ │ └── model.xml │ │ │ │ ├── square_gas │ │ │ │ │ └── model.xml │ │ │ │ ├── whirlpool_induc │ │ │ │ │ └── model.xml │ │ │ │ ├── wolf_gas │ │ │ │ │ └── model.xml │ │ │ │ └── zline_gas │ │ │ │ │ └── model.xml │ │ │ ├── stovetops │ │ │ │ ├── alborz_top_gas │ │ │ │ │ └── model.xml │ │ │ │ ├── pack_1_top_gas │ │ │ │ │ └── model.xml │ │ │ │ ├── pack_1_top_induc │ │ │ │ │ └── model.xml │ │ │ │ └── sleek_silver_top_gas │ │ │ │ │ └── model.xml │ │ │ └── toasters │ │ │ │ ├── basic_popup │ │ │ │ └── model.xml │ │ │ │ ├── basic_popup_2 │ │ │ │ └── model.xml │ │ │ │ ├── boxy │ │ │ │ └── model.xml │ │ │ │ ├── fancy │ │ │ │ └── model.xml │ │ │ │ └── vintage │ │ │ │ └── model.xml │ │ └── scenes │ │ │ ├── kitchen_layouts │ │ │ ├── G_shaped_large.yaml │ │ │ ├── G_shaped_small.yaml │ │ │ ├── G_shaped_small_countermw.yaml │ │ │ ├── L_shaped_large.yaml │ │ │ ├── L_shaped_small.yaml │ │ │ ├── U_shaped_large.yaml │ │ │ ├── U_shaped_small.yaml │ │ │ ├── galley.yaml │ │ │ ├── one_wall_large.yaml │ │ │ ├── one_wall_small.yaml │ │ │ ├── playground.yaml │ │ │ └── wraparound.yaml │ │ │ └── kitchen_styles │ │ │ ├── coastal.yaml │ │ │ ├── farmhouse.yaml │ │ │ ├── industrial.yaml │ │ │ ├── l1 │ │ │ ├── 000.yaml │ │ │ ├── 001.yaml │ │ │ ├── 002.yaml │ │ │ ├── 003.yaml │ │ │ ├── 004.yaml │ │ │ ├── 005.yaml │ │ │ ├── 006.yaml │ │ │ ├── 007.yaml │ │ │ ├── 008.yaml │ │ │ ├── 009.yaml │ │ │ ├── 010.yaml │ │ │ ├── 011.yaml │ │ │ ├── 012.yaml │ │ │ ├── 013.yaml │ │ │ ├── 014.yaml │ │ │ ├── 015.yaml │ │ │ ├── 016.yaml │ │ │ ├── 017.yaml │ │ │ ├── 018.yaml │ │ │ ├── 019.yaml │ │ │ ├── 020.yaml │ │ │ ├── 021.yaml │ │ │ ├── 022.yaml │ │ │ ├── 023.yaml │ │ │ ├── 024.yaml │ │ │ ├── 025.yaml │ │ │ ├── 026.yaml │ │ │ ├── 027.yaml │ │ │ ├── 028.yaml │ │ │ ├── 029.yaml │ │ │ ├── 030.yaml │ │ │ ├── 031.yaml │ │ │ ├── 032.yaml │ │ │ ├── 033.yaml │ │ │ ├── 034.yaml │ │ │ ├── 035.yaml │ │ │ ├── 036.yaml │ │ │ ├── 037.yaml │ │ │ ├── 038.yaml │ │ │ └── 039.yaml │ │ │ ├── l2 │ │ │ ├── 000.yaml │ │ │ ├── 001.yaml │ │ │ ├── 002.yaml │ │ │ ├── 003.yaml │ │ │ ├── 004.yaml │ │ │ ├── 005.yaml │ │ │ └── 006.yaml │ │ │ ├── l2_orig │ │ │ ├── 000.yaml │ │ │ ├── 001.yaml │ │ │ ├── 002.yaml │ │ │ ├── 003.yaml │ │ │ ├── 004.yaml │ │ │ ├── 005.yaml │ │ │ ├── 006.yaml │ │ │ ├── 007.yaml │ │ │ ├── 008.yaml │ │ │ ├── 009.yaml │ │ │ ├── 010.yaml │ │ │ ├── 011.yaml │ │ │ ├── 012.yaml │ │ │ ├── 013.yaml │ │ │ ├── 014.yaml │ │ │ ├── 015.yaml │ │ │ ├── 016.yaml │ │ │ ├── 017.yaml │ │ │ ├── 018.yaml │ │ │ ├── 019.yaml │ │ │ ├── 020.yaml │ │ │ ├── 021.yaml │ │ │ ├── 022.yaml │ │ │ ├── 023.yaml │ │ │ ├── 024.yaml │ │ │ ├── 025.yaml │ │ │ ├── 026.yaml │ │ │ ├── 027.yaml │ │ │ ├── 028.yaml │ │ │ ├── 029.yaml │ │ │ ├── 030.yaml │ │ │ ├── 031.yaml │ │ │ ├── 032.yaml │ │ │ ├── 033.yaml │ │ │ ├── 034.yaml │ │ │ ├── 035.yaml │ │ │ ├── 036.yaml │ │ │ ├── 037.yaml │ │ │ ├── 038.yaml │ │ │ └── 039.yaml │ │ │ ├── l3 │ │ │ ├── 000.yaml │ │ │ ├── 001.yaml │ │ │ ├── 002.yaml │ │ │ ├── 003.yaml │ │ │ ├── 004.yaml │ │ │ ├── 005.yaml │ │ │ ├── 006.yaml │ │ │ ├── 007.yaml │ │ │ ├── 008.yaml │ │ │ ├── 009.yaml │ │ │ ├── 010.yaml │ │ │ ├── 011.yaml │ │ │ ├── 012.yaml │ │ │ ├── 013.yaml │ │ │ ├── 014.yaml │ │ │ ├── 015.yaml │ │ │ ├── 016.yaml │ │ │ ├── 017.yaml │ │ │ ├── 018.yaml │ │ │ └── 019.yaml │ │ │ ├── mediterranean.yaml │ │ │ ├── modern_1.yaml │ │ │ ├── modern_2.yaml │ │ │ ├── playground.yaml │ │ │ ├── rustic.yaml │ │ │ ├── scandanavian.yaml │ │ │ ├── traditional_1.yaml │ │ │ ├── traditional_2.yaml │ │ │ ├── transitional_1.yaml │ │ │ └── transitional_2.yaml │ ├── fixtures │ │ ├── __init__.py │ │ ├── accessories.py │ │ ├── cabinet_panels.py │ │ ├── cabinets.py │ │ ├── counter.py │ │ ├── dishwasher.py │ │ ├── fixture.py │ │ ├── fixture_stack.py │ │ ├── fixture_utils.py │ │ ├── fridge.py │ │ ├── handles.py │ │ ├── hood.py │ │ ├── microwave.py │ │ ├── others.py │ │ ├── sink.py │ │ ├── stove.py │ │ └── windows.py │ ├── objects │ │ ├── __init__.py │ │ ├── kitchen_object_utils.py │ │ ├── kitchen_objects.py │ │ └── objects.py │ └── scenes │ │ ├── __init__.py │ │ ├── kitchen_arena.py │ │ ├── scene_builder.py │ │ ├── scene_registry.py │ │ └── scene_utils.py ├── scripts │ ├── analyze_object_categories.py │ ├── analyze_scene_yamls.py │ ├── bench_speed.py │ ├── browse_mjcf_model.py │ ├── collect_demos.py │ ├── dataset_states_to_obs.py │ ├── download_datasets.py │ ├── download_kitchen_assets.py │ ├── download_mimicdroid_dataset.py │ ├── extract_video.py │ ├── filter_dataset_size.py │ ├── fix_all_saved_ep_meta.py │ ├── generate_usd_trajectories.py │ ├── generate_yamls.py │ ├── get_dataset_info.py │ ├── model_zoo │ │ ├── README.md │ │ ├── __init__.py │ │ ├── glb_to_blender.py │ │ ├── import_glb_model.py │ │ ├── install_vhacd.sh │ │ └── objs_to_mjcf.py │ ├── play_dataset_montage.py │ ├── playback_dataset.py │ ├── render_env.py │ ├── replay_dataset.py │ ├── setup_macros.py │ └── visualize_top_k.py └── utils │ ├── __init__.py │ ├── camera_utils.py │ ├── config_utils.py │ ├── dataset_registry.py │ ├── env_utils.py │ ├── eval_utils.py │ ├── mimicdroid_utils.py │ ├── model_zoo │ ├── __init__.py │ ├── file_utils.py │ ├── fixture_template.xml │ ├── install_vhacd.sh │ ├── log_utils.py │ ├── mjcf_gen_utils.py │ ├── mjcf_obj.py │ ├── mtl_utils.py │ ├── object_play_env.py │ ├── object_template.xml │ └── parser_utils.py │ ├── object_utils.py │ ├── placement_samplers.py │ ├── postprocess_xml_utils.py │ ├── robomimic │ ├── robomimic_dataset_utils.py │ ├── robomimic_env_utils.py │ ├── robomimic_env_wrapper.py │ ├── robomimic_obs_utils.py │ ├── robomimic_tensor_utils.py │ └── robomimic_torch_utils.py │ ├── texture_swap.py │ └── usd │ ├── README.md │ ├── __init__.py │ ├── component.py │ ├── demo.py │ ├── exporter.py │ ├── exporter_test.py │ ├── shapes.py │ └── utils.py ├── setup.py └── tests ├── test_dataset_playback.py ├── test_env_determinism.py └── test_tasks_validity.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UT-Austin-RPL/mimicdroid-robocasa/HEAD/.gitignore -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UT-Austin-RPL/mimicdroid-robocasa/HEAD/.pre-commit-config.yaml -------------------------------------------------------------------------------- /DATASET.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UT-Austin-RPL/mimicdroid-robocasa/HEAD/DATASET.md -------------------------------------------------------------------------------- /GETTING_STARTED.md: -------------------------------------------------------------------------------- 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