├── .dockerignore ├── .flake8 ├── .gitattributes ├── .github ├── CODEOWNERS ├── ISSUE_TEMPLATE │ ├── bug.md │ ├── proposal.md │ └── question.md ├── LICENSE_HEADER.md ├── LICENSE_HEADER.txt ├── PULL_REQUEST_TEMPLATE.md ├── actions │ ├── combine-results │ │ └── action.yml │ ├── docker-build │ │ └── action.yml │ └── run-tests │ │ └── action.yml ├── labeler.yml ├── stale.yml └── workflows │ ├── build.yml │ ├── check-links.yml │ ├── docs.yaml │ ├── labeler.yml │ ├── license-check.yaml │ ├── license-exceptions.json │ └── pre-commit.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── .vscode ├── .gitignore └── tools │ └── setup_vscode.py ├── CONTRIBUTING.md ├── CONTRIBUTORS.md ├── LICENCE ├── README.md ├── VERSION ├── docker ├── .env.base ├── .env.ros2 ├── .ros │ ├── cyclonedds.xml │ └── fastdds.xml ├── Dockerfile.base ├── Dockerfile.ros2 ├── cluster │ ├── .env.cluster │ ├── cluster_interface.sh │ ├── run_singularity.sh │ ├── submit_job_pbs.sh │ └── submit_job_slurm.sh ├── container.py ├── container.sh ├── docker-compose.yaml ├── test │ └── test_docker.py ├── utils │ ├── __init__.py │ ├── container_interface.py │ ├── state_file.py │ └── x11_utils.py └── x11.yaml ├── docs ├── Makefile ├── README.md ├── _redirect │ └── index.html ├── _templates │ └── versioning.html ├── conf.py ├── index.rst ├── licenses │ ├── assets │ │ ├── anymal_b-license.txt │ │ ├── anymal_c-license.txt │ │ ├── franka-license.txt │ │ ├── kinova-license.txt │ │ ├── robotiq-license.txt │ │ ├── unitree-license.txt │ │ └── valkyrie-license │ └── dependencies │ │ ├── Farama-Notifications-license.txt │ │ ├── GitPython-license.txt │ │ ├── InquirerPy-license.txt │ │ ├── absl-py-license.txt │ │ ├── accessible-pygments-license.txt │ │ ├── alabaster-license.txt │ │ ├── antlr4_python3_runtime-license.txt │ │ ├── anyio-license.txt │ │ ├── anytree-license.txt │ │ ├── assimp-license.txt │ │ ├── asttokens-license.txt │ │ ├── attrs-license │ │ ├── autodocsumm-license.txt │ │ ├── babel-license.txt │ │ ├── beautifulsoup4-license.txt │ │ ├── black-license.txt │ │ ├── boost-license.txt │ │ ├── botocore-license.txt │ │ ├── certifi-license.txt │ │ ├── charset-normalizer-license.txt │ │ ├── click-license.txt │ │ ├── cloudpickle-license.txt │ │ ├── cmeel-license.txt │ │ ├── codespell-license.txt │ │ ├── colorama-license.txt │ │ ├── comm-license.txt │ │ ├── console-bridge-license.txt │ │ ├── contourpy-license.txt │ │ ├── cuRobo-license.txt │ │ ├── cycler-license.txt │ │ ├── decorator-license.txt │ │ ├── dex-retargeting-license.txt │ │ ├── docker-pycreds-license.txt │ │ ├── egl_probe-license.txt │ │ ├── eigenpy-license.txt │ │ ├── einops-license.txt │ │ ├── executing-license.txt │ │ ├── filelock-license.txt │ │ ├── flake8-license.txt │ │ ├── flaky-license.txt │ │ ├── flatdict-license.txt │ │ ├── fonttools-license.txt │ │ ├── fsspec-license.txt │ │ ├── gitdb-license.txt │ │ ├── grpcio-license.txt │ │ ├── gym-license.txt │ │ ├── gym-notices-license.txt │ │ ├── gymnasium-license.txt │ │ ├── h5py-license.txt │ │ ├── hf-xet-license.txt │ │ ├── hidapi-license.txt │ │ ├── hpp-fcl-license.txt │ │ ├── huggingface-hub-license.txt │ │ ├── hydra-license.txt │ │ ├── idna-license.txt │ │ ├── imageio-license.txt │ │ ├── imageio_ffmpeg-license.txt │ │ ├── imagesize-license.txt │ │ ├── iniconfig-license.txt │ │ ├── ipython-license.txt │ │ ├── ipywidgets-license.txt │ │ ├── isaacsim-license.txt │ │ ├── isort-license.txt │ │ ├── jinja2-license.txt │ │ ├── jmespath-license.txt │ │ ├── joblib-license.txt │ │ ├── jsonschema-license.txt │ │ ├── jsonschema-specifications-license.txt │ │ ├── junitparser-license.txt │ │ ├── jupyterlab_widgets-license.txt │ │ ├── kiwisolver-license.txt │ │ ├── labeler-license.txt │ │ ├── latexcodec-license.txt │ │ ├── legged-gym-license.txt │ │ ├── loop-rate-limiters-license.txt │ │ ├── markdown-it-py-license.txt │ │ ├── markdown-license.txt │ │ ├── markupsafe-license.txt │ │ ├── matplotlib-inline-license.txt │ │ ├── matplotlib-license.txt │ │ ├── mdit-py-plugins-license.txt │ │ ├── mdurl-license.txt │ │ ├── moviepy-license.txt │ │ ├── mpmath-license.txt │ │ ├── myst-parser-license.txt │ │ ├── networkx-license.txt │ │ ├── newton-license.txt │ │ ├── nlopt-license.txt │ │ ├── numpy-license.txt │ │ ├── octomap-license.txt │ │ ├── omegaconf-license.txt │ │ ├── onnx-license.txt │ │ ├── open3d-license.txt │ │ ├── opencv-python-license.txt │ │ ├── packaging-license.txt │ │ ├── pandas-license.txt │ │ ├── pathtools-license.txt │ │ ├── pexpect-license.txt │ │ ├── pillow-license.txt │ │ ├── pin-license.txt │ │ ├── pin-pink-license.txt │ │ ├── pinocchio-license.txt │ │ ├── pluggy-license.txt │ │ ├── pre-commit-hooks-license.txt │ │ ├── pre-commit-license.txt │ │ ├── prettytable-license.txt │ │ ├── proglog-license.txt │ │ ├── protobuf-license.txt │ │ ├── psutil-license.txt │ │ ├── ptyprocess-license.txt │ │ ├── pure_eval-license.txt │ │ ├── pybtex-docutils-license.txt │ │ ├── pydata-sphinx-theme-license.txt │ │ ├── pygame-license.txt │ │ ├── pyglet-license.txt │ │ ├── pygrep-hooks-license.txt │ │ ├── pyparsing-license.txt │ │ ├── pyperclip-license.txt │ │ ├── pyright-license.txt │ │ ├── pytest-license.txt │ │ ├── pytest-mock-license.txt │ │ ├── python-dateutil-license.txt │ │ ├── python-dotenv-license.txt │ │ ├── pytorch3d-license.txt │ │ ├── pytransform3d-license.txt │ │ ├── pytz-license.txt │ │ ├── pyupgrade-license.txt │ │ ├── pyyaml-license.txt │ │ ├── qhull-license.txt │ │ ├── qpsolvers-license.txt │ │ ├── quadprog-license.txt │ │ ├── ray-license.txt │ │ ├── referencing-license.txt │ │ ├── regex-license.txt │ │ ├── requests-license.txt │ │ ├── rich-license.txt │ │ ├── rl_games-license.txt │ │ ├── robomimc-license.txt │ │ ├── rsl_rl-license.txt │ │ ├── safetensors-license.txt │ │ ├── scikit-learn-license.txt │ │ ├── sentry-sdk-license.txt │ │ ├── setpruwtle-license.txt │ │ ├── setuptools-license.txt │ │ ├── shortuuid-license.txt │ │ ├── six-license.txt │ │ ├── skrl-license.txt │ │ ├── smmap-license.txt │ │ ├── sniffio-license.txt │ │ ├── snowballstemmer-license.txt │ │ ├── soupsieve-license.txt │ │ ├── sphinx-book-theme-license.txt │ │ ├── sphinx-copybutton-license.txt │ │ ├── sphinx-design-license.txt │ │ ├── sphinx-icon-license.txt │ │ ├── sphinx-license.txt │ │ ├── sphinx-multiversion-license.txt │ │ ├── sphinx-tabs-license.txt │ │ ├── sphinxcontrib-applehelp-license.txt │ │ ├── sphinxcontrib-bibtex-license.txt │ │ ├── sphinxcontrib-devhelp-license.txt │ │ ├── sphinxcontrib-htmlhelp-license.txt │ │ ├── sphinxcontrib-jsmath-license.txt │ │ ├── sphinxcontrib-qthelp-license.txt │ │ ├── sphinxcontrib-serializinghtml-license.txt │ │ ├── sphinxemoji-license.txt │ │ ├── stable-baselines3-license.txt │ │ ├── stack-data-license.txt │ │ ├── sympy-license.txt │ │ ├── tensorboard-license.txt │ │ ├── tensorboardx-license.txt │ │ ├── tensordict-license.txt │ │ ├── termcolor-license.txt │ │ ├── threadpoolctl-license.txt │ │ ├── tinyxml-license.txt │ │ ├── tokenizers-license.txt │ │ ├── toml-license.txt │ │ ├── torch-license.txt │ │ ├── torchvision-license.txt │ │ ├── tqdm-license.txt │ │ ├── traitlets-license.txt │ │ ├── transformers-license.txt │ │ ├── trimesh-license.txt │ │ ├── triton-license.txt │ │ ├── typing-extensions-license.txt │ │ ├── typing-inspection-license.txt │ │ ├── tzdata-license.txt │ │ ├── urdfdom-license.txt │ │ ├── urllib3-license.txt │ │ ├── uv-license.txt │ │ ├── walk-these-ways-license.txt │ │ ├── wandb-license.txt │ │ ├── warp-license.txt │ │ ├── werkzeug-license.txt │ │ ├── widgetsnbextension-license.txt │ │ ├── zipp-license.txt │ │ └── zlib-license.txt ├── make.bat ├── requirements.txt └── source │ ├── _static │ ├── UW-logo-black.png │ ├── UW-logo-white.png │ ├── css │ │ └── custom.css │ ├── favicon.ico │ ├── publications │ │ ├── omnireset │ │ │ ├── drawer_assembly_training_curve.jpg │ │ │ ├── peg_training_curve.jpg │ │ │ └── twisting_training_curve.jpg │ │ └── pg1 │ │ │ └── pg1.png │ ├── refs.bib │ ├── setup │ │ ├── asset_caching.jpg │ │ ├── cloudxr_ar_panel.jpg │ │ ├── cloudxr_avp_connect_ui.jpg │ │ ├── cloudxr_avp_ik_error.jpg │ │ ├── cloudxr_avp_teleop_ui.jpg │ │ ├── cloudxr_viewport.jpg │ │ ├── isaac_ants_example.jpg │ │ ├── shadow_hands_example.jpg │ │ ├── verify_install.jpg │ │ ├── walkthrough_1_1_result.jpg │ │ ├── walkthrough_1_2_arrows.jpg │ │ ├── walkthrough_project_setup.svg │ │ ├── walkthrough_sim_stage_scene.svg │ │ ├── walkthrough_stage_context.svg │ │ └── walkthrough_training_vectors.svg │ ├── tasks.jpg │ ├── tasks │ │ ├── automate │ │ │ ├── 00004.jpg │ │ │ └── 01053_disassembly.jpg │ │ ├── classic │ │ │ ├── ant.jpg │ │ │ ├── cart_double_pendulum.jpg │ │ │ ├── cartpole.jpg │ │ │ └── humanoid.jpg │ │ ├── factory │ │ │ ├── gear_mesh.jpg │ │ │ ├── nut_thread.jpg │ │ │ └── peg_insert.jpg │ │ ├── future_plans │ │ │ ├── deformable │ │ │ │ ├── drop.jpg │ │ │ │ ├── flag.jpg │ │ │ │ ├── fluid_pour.jpg │ │ │ │ ├── fluid_transport.jpg │ │ │ │ ├── pick.jpg │ │ │ │ ├── place.jpg │ │ │ │ ├── rope.jpg │ │ │ │ ├── shirt-basket.jpg │ │ │ │ ├── shirt.jpg │ │ │ │ ├── stacking.jpg │ │ │ │ ├── sweater.jpg │ │ │ │ ├── tower_of_hanoi.jpg │ │ │ │ └── vest.jpg │ │ │ └── rigid │ │ │ │ ├── beat-the-buzz.jpg │ │ │ │ ├── cabinet.jpg │ │ │ │ ├── hockey.jpg │ │ │ │ ├── jenga.jpg │ │ │ │ ├── lift.jpg │ │ │ │ ├── locomotion.jpg │ │ │ │ ├── mobile_cabinet.jpg │ │ │ │ ├── mobile_reach.jpg │ │ │ │ ├── nut-bolt.jpg │ │ │ │ ├── peg-in-hole.jpg │ │ │ │ ├── pyramid.jpg │ │ │ │ ├── reach.jpg │ │ │ │ └── shadow.jpg │ │ ├── locomotion │ │ │ ├── a1_flat.jpg │ │ │ ├── a1_rough.jpg │ │ │ ├── agility_digit_flat.jpg │ │ │ ├── agility_digit_loco_manip.jpg │ │ │ ├── agility_digit_rough.jpg │ │ │ ├── anymal_b_flat.jpg │ │ │ ├── anymal_b_rough.jpg │ │ │ ├── anymal_c_flat.jpg │ │ │ ├── anymal_c_rough.jpg │ │ │ ├── anymal_d_flat.jpg │ │ │ ├── anymal_d_rough.jpg │ │ │ ├── g1_flat.jpg │ │ │ ├── g1_rough.jpg │ │ │ ├── go1_flat.jpg │ │ │ ├── go1_rough.jpg │ │ │ ├── go2_flat.jpg │ │ │ ├── go2_rough.jpg │ │ │ ├── h1_flat.jpg │ │ │ ├── h1_rough.jpg │ │ │ ├── spot_flat.jpg │ │ │ ├── spot_gap.jpg │ │ │ ├── spot_obstacle.jpg │ │ │ ├── spot_pit.jpg │ │ │ ├── spot_slope.jpg │ │ │ └── spot_stepping_stone.jpg │ │ ├── manipulation │ │ │ ├── agibot_place_mug.jpg │ │ │ ├── agibot_place_toy.jpg │ │ │ ├── allegro_cube.jpg │ │ │ ├── factory_ext │ │ │ │ ├── gear_mesh_ext.jpg │ │ │ │ ├── nut_thread_ext.jpg │ │ │ │ └── peg_insert_ext.jpg │ │ │ ├── franka_lift.jpg │ │ │ ├── franka_open_drawer.jpg │ │ │ ├── franka_reach.jpg │ │ │ ├── franka_stack.jpg │ │ │ ├── g1_pick_place.jpg │ │ │ ├── g1_pick_place_fixed_base.jpg │ │ │ ├── g1_pick_place_locomanipulation.jpg │ │ │ ├── galbot_stack_cube.jpg │ │ │ ├── gr-1_pick_place.jpg │ │ │ ├── gr-1_pick_place_annotation.jpg │ │ │ ├── gr-1_pick_place_waist.jpg │ │ │ ├── kuka_allegro_lift.jpg │ │ │ ├── kuka_allegro_reorient.jpg │ │ │ ├── omnireset_drawer_assemble.jpg │ │ │ ├── omnireset_fbleg_screw.jpg │ │ │ ├── omnireset_peg_insert.jpg │ │ │ ├── shadow_cube.jpg │ │ │ ├── shadow_hand_over.jpg │ │ │ ├── tycho_track_goal.jpg │ │ │ ├── ur10_reach.jpg │ │ │ ├── ur10_stack_surface_gripper.jpg │ │ │ ├── ur10e_reach.jpg │ │ │ ├── ur5_track_goal.jpg │ │ │ └── xarm_leap_track_goal.jpg │ │ ├── navigation │ │ │ └── anymal_c_nav.jpg │ │ └── others │ │ │ ├── humanoid_amp.jpg │ │ │ └── quadcopter.jpg │ ├── teleop │ │ ├── hand_asset.jpg │ │ └── teleop_diagram.jpg │ ├── uwlab.jpg │ └── vscode_tasks.png │ ├── deployment │ ├── cluster.rst │ ├── docker.rst │ ├── index.rst │ └── run_docker_example.rst │ ├── overview │ ├── developer-guide │ │ ├── development.rst │ │ ├── index.rst │ │ ├── repo_structure.rst │ │ └── vs_code.rst │ ├── isaac_environments.rst │ └── uw_environments.rst │ ├── publications │ ├── omnireset │ │ ├── index.rst │ │ └── instruction.rst │ └── pg1.rst │ ├── refs │ └── license.rst │ └── setup │ └── installation │ ├── asset_caching.rst │ ├── binaries_installation.rst │ ├── include │ ├── bin_verify_isaacsim.rst │ ├── pip_python_virtual_env.rst │ ├── pip_verify_isaacsim.rst │ ├── src_build_uwlab.rst │ ├── src_clone_uwlab.rst │ ├── src_python_virtual_env.rst │ ├── src_symlink_isaacsim.rst │ └── src_verify_uwlab.rst │ ├── index.rst │ ├── pip_installation.rst │ └── source_installation.rst ├── environment.yml ├── pyproject.toml ├── pytest.ini ├── scripts ├── environments │ ├── export_IODescriptors.py │ ├── list_envs.py │ ├── random_agent.py │ ├── state_machine │ │ ├── lift_cube_sm.py │ │ ├── lift_teddy_bear.py │ │ └── open_cabinet_sm.py │ ├── teleoperation │ │ └── teleop_se3_agent.py │ └── zero_agent.py ├── imitation_learning │ ├── isaaclab_mimic │ │ ├── annotate_demos.py │ │ ├── consolidated_demo.py │ │ └── generate_dataset.py │ ├── locomanipulation_sdg │ │ ├── generate_data.py │ │ └── plot_navigation_trajectory.py │ └── robomimic │ │ ├── play.py │ │ ├── robust_eval.py │ │ └── train.py ├── reinforcement_learning │ ├── ray │ │ ├── cluster_configs │ │ │ ├── Dockerfile │ │ │ └── google_cloud │ │ │ │ └── kuberay.yaml.jinja │ │ ├── grok_cluster_with_kubectl.py │ │ ├── hyperparameter_tuning │ │ │ ├── vision_cartpole_cfg.py │ │ │ └── vision_cfg.py │ │ ├── launch.py │ │ ├── mlflow_to_local_tensorboard.py │ │ ├── submit_job.py │ │ ├── task_runner.py │ │ ├── tuner.py │ │ ├── util.py │ │ └── wrap_resources.py │ ├── rl_games │ │ ├── play.py │ │ └── train.py │ ├── rsl_rl │ │ ├── cli_args.py │ │ ├── play.py │ │ └── train.py │ ├── sb3 │ │ ├── play.py │ │ └── train.py │ └── skrl │ │ ├── play.py │ │ └── train.py └── tools │ ├── blender_obj.py │ ├── check_instanceable.py │ ├── convert_instanceable.py │ ├── convert_mesh.py │ ├── convert_mjcf.py │ ├── convert_urdf.py │ ├── cosmos │ ├── cosmos_prompt_gen.py │ └── transfer1_templates.json │ ├── hdf5_to_mp4.py │ ├── merge_hdf5_datasets.py │ ├── mp4_to_hdf5.py │ ├── pretrained_checkpoint.py │ ├── process_meshes_to_obj.py │ ├── record_demos.py │ ├── replay_demos.py │ └── test │ ├── test_cosmos_prompt_gen.py │ ├── test_hdf5_to_mp4.py │ └── test_mp4_to_hdf5.py ├── scripts_v2 └── tools │ ├── conversions │ └── convert_mesh.py │ ├── record_grasps.py │ ├── record_partial_assemblies.py │ ├── record_reset_states.py │ └── visualize_reset_states.py ├── source ├── uwlab │ ├── config │ │ └── extension.toml │ ├── docs │ │ └── CHANGELOG.rst │ ├── pyproject.toml │ ├── setup.py │ └── uwlab │ │ ├── actuators │ │ ├── __init__.py │ │ ├── actuator_cfg.py │ │ └── actuator_pd.py │ │ ├── assets │ │ ├── __init__.py │ │ ├── articulation │ │ │ ├── __init__.py │ │ │ ├── articulation.py │ │ │ ├── articulation_cfg.py │ │ │ ├── articulation_data.py │ │ │ ├── articulation_drive │ │ │ │ ├── __init__.py │ │ │ │ ├── articulation_drive.py │ │ │ │ ├── articulation_drive_cfg.py │ │ │ │ ├── articulation_drive_data.py │ │ │ │ └── articulation_drive_process.py │ │ │ └── articulation_view │ │ │ │ ├── __init__.py │ │ │ │ ├── articulation_view.py │ │ │ │ ├── articulation_view_cfg.py │ │ │ │ ├── bullet_articulation_view.py │ │ │ │ └── utils │ │ │ │ └── articulation_kinematics.py │ │ ├── asset_base.py │ │ └── asset_base_cfg.py │ │ ├── controllers │ │ ├── __init__.py │ │ ├── differential_ik.py │ │ └── differential_ik_cfg.py │ │ ├── devices │ │ ├── __init__.py │ │ ├── device_cfg.py │ │ ├── realsense_t265.py │ │ ├── rokoko_glove.py │ │ ├── se3_keyboard.py │ │ ├── teleop.py │ │ └── teleop_cfg.py │ │ ├── envs │ │ ├── __init__.py │ │ ├── common.py │ │ ├── diagnosis │ │ │ ├── __init__.py │ │ │ ├── diagnosis.py │ │ │ └── diagnosis_util.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── actions │ │ │ │ ├── __init__.py │ │ │ │ ├── actions_cfg.py │ │ │ │ ├── default_joint_static_action.py │ │ │ │ ├── pca_actions.py │ │ │ │ ├── task_space_actions.py │ │ │ │ └── visualizable_joint_target_position.py │ │ │ ├── commands │ │ │ │ ├── __init__.py │ │ │ │ ├── categorical_command.py │ │ │ │ └── commands_cfg.py │ │ │ ├── curriculums.py │ │ │ ├── events.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ ├── real_rl_env.py │ │ ├── real_rl_env_cfg.py │ │ └── ui │ │ │ ├── __init__.py │ │ │ ├── base_env_window.py │ │ │ ├── empty_window.py │ │ │ ├── manager_based_rl_env_window.py │ │ │ └── viewport_camera_controller.py │ │ ├── genes │ │ ├── __init__.py │ │ ├── gene │ │ │ ├── __init__.py │ │ │ ├── gene.py │ │ │ ├── gene_cfg.py │ │ │ └── gene_mdp.py │ │ ├── genome.py │ │ └── genome_cfg.py │ │ ├── managers │ │ ├── __init__.py │ │ ├── data_manager.py │ │ └── manager_term_cfg.py │ │ ├── scene │ │ ├── __init__.py │ │ ├── scene_context.py │ │ └── scene_context_cfg.py │ │ ├── sim │ │ ├── converters │ │ │ ├── __init__.py │ │ │ ├── common_material_property_cfg.py │ │ │ ├── mesh_converter.py │ │ │ └── mesh_converter_cfg.py │ │ └── spawners │ │ │ └── materials │ │ │ ├── __init__.py │ │ │ ├── common_materials_cfg.py │ │ │ ├── physics_materials.py │ │ │ ├── physics_materials_cfg.py │ │ │ ├── visual_materials.py │ │ │ └── visual_materials_cfg.py │ │ ├── terrains │ │ ├── __init__.py │ │ ├── config │ │ │ └── rough.py │ │ ├── height_field │ │ │ ├── __init__.py │ │ │ ├── hf_terrains.py │ │ │ └── hf_terrains_cfg.py │ │ ├── trimesh │ │ │ ├── __init__.py │ │ │ ├── basic_mesh_terrains.py │ │ │ ├── basic_mesh_terrains_cfg.py │ │ │ ├── mesh_terrains.py │ │ │ └── mesh_terrains_cfg.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── patch_sampling.py │ │ │ └── patch_sampling_cfg.py │ │ ├── ui │ │ └── widgets │ │ │ ├── __init__.py │ │ │ ├── image_plot.py │ │ │ ├── line_plot.py │ │ │ ├── manager_live_visualizer.py │ │ │ ├── ui_visualizer_base.py │ │ │ └── ui_widget_wrapper.py │ │ └── utils │ │ ├── __init__.py │ │ ├── datasets │ │ └── torch_dataset_file_handler.py │ │ ├── io │ │ ├── __init__.py │ │ └── encode.py │ │ ├── math.py │ │ └── noise │ │ ├── __init__.py │ │ ├── noise_cfg.py │ │ └── noise_model.py ├── uwlab_assets │ ├── config │ │ └── extension.toml │ ├── data │ │ └── .gitkeep │ ├── docs │ │ ├── CHANGELOG.rst │ │ └── README.md │ ├── pyproject.toml │ ├── setup.py │ ├── test │ │ └── test_valid_configs.py │ └── uwlab_assets │ │ ├── __init__.py │ │ ├── props │ │ └── workbench │ │ │ └── workbench_conversion_cfg.py │ │ └── robots │ │ ├── cartpole.py │ │ ├── franka │ │ ├── __init__.py │ │ ├── action.py │ │ └── teleop.py │ │ ├── leap │ │ ├── __init__.py │ │ ├── actions.py │ │ ├── articulation_drive │ │ │ ├── __init__.py │ │ │ ├── dynamixel_client.py │ │ │ ├── dynamixel_driver.py │ │ │ ├── dynamixel_driver_cfg.py │ │ │ └── installation.md │ │ ├── leap.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ └── actions │ │ │ │ ├── __init__.py │ │ │ │ ├── actions.py │ │ │ │ └── actions_cfg.py │ │ └── teleop.py │ │ ├── robotiq_gripper │ │ ├── __init__.py │ │ └── articulation_drive │ │ │ ├── __init__.py │ │ │ ├── robotiq_driver.py │ │ │ └── robotiq_driver_cfg.py │ │ ├── spot │ │ ├── __init__.py │ │ ├── actions.py │ │ ├── arm_spot.py │ │ └── spot.py │ │ ├── tycho │ │ ├── __init__.py │ │ ├── actions.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ ├── teleop.py │ │ └── tycho.py │ │ ├── ur5 │ │ ├── __init__.py │ │ ├── actions.py │ │ ├── articulation_drive │ │ │ ├── ur_driver.py │ │ │ └── ur_driver_cfg.py │ │ ├── teleop.py │ │ └── ur5.py │ │ ├── ur5e_robotiq_gripper │ │ ├── __init__.py │ │ ├── actions.py │ │ └── ur5e_robotiq_2f85_gripper.py │ │ ├── xarm │ │ ├── __init__.py │ │ └── articulation_drive │ │ │ ├── __init__.py │ │ │ ├── installation.md │ │ │ ├── xarm_driver.py │ │ │ └── xarm_driver_cfg.py │ │ ├── xarm_leap │ │ ├── __init__.py │ │ ├── actions.py │ │ ├── teleop.py │ │ └── xarm_leap.py │ │ └── xarm_uf_gripper │ │ ├── __init__.py │ │ ├── actions.py │ │ ├── teleop.py │ │ └── xarm_uf_gripper.py ├── uwlab_rl │ ├── config │ │ └── extension.toml │ ├── docs │ │ └── CHANGELOG.rst │ ├── pyproject.toml │ ├── setup.py │ └── uwlab_rl │ │ ├── rsl_rl │ │ ├── __init__.py │ │ └── rl_cfg.py │ │ └── skrl │ │ ├── __init__.py │ │ ├── extensions │ │ ├── __init__.py │ │ ├── ext_cfg.py │ │ ├── loss_ext.py │ │ ├── patches.py │ │ └── sample_ext.py │ │ └── ppo_cfg.py └── uwlab_tasks │ ├── config │ └── extension.toml │ ├── docs │ └── CHANGELOG.rst │ ├── pyproject.toml │ ├── setup.py │ ├── test │ ├── env_test_utils.py │ ├── test_environment_determinism.py │ ├── test_environments.py │ └── test_hydra.py │ └── uwlab_tasks │ ├── __init__.py │ ├── direct │ ├── cartpole │ │ ├── __init__.py │ │ ├── agents │ │ │ ├── __init__.py │ │ │ ├── rl_games_camera_ppo_cfg.yaml │ │ │ ├── rl_games_ppo_cfg.yaml │ │ │ ├── rsl_rl_ppo_cfg.py │ │ │ ├── sb3_ppo_cfg.yaml │ │ │ ├── skrl_camera_ppo_cfg.yaml │ │ │ └── skrl_ppo_cfg.yaml │ │ ├── cartpole_camera_env.py │ │ └── cartpole_env.py │ └── humanoid │ │ ├── __init__.py │ │ ├── agents │ │ ├── __init__.py │ │ ├── rl_games_ppo_cfg.yaml │ │ ├── rsl_rl_ppo_cfg.py │ │ └── skrl_ppo_cfg.yaml │ │ └── humanoid_env.py │ ├── manager_based │ ├── __init__.py │ ├── classic │ │ └── cartpole │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ ├── __init__.py │ │ │ ├── rl_games_camera_ppo_cfg.yaml │ │ │ ├── rl_games_feature_ppo_cfg.yaml │ │ │ ├── rl_games_ppo_cfg.yaml │ │ │ ├── rsl_rl_ppo_cfg.py │ │ │ ├── sb3_ppo_cfg.yaml │ │ │ └── skrl_ppo_cfg.yaml │ │ │ ├── cartpole_camera_env_cfg.py │ │ │ ├── cartpole_env_cfg.py │ │ │ └── mdp │ │ │ ├── __init__.py │ │ │ ├── rewards.py │ │ │ └── symmetry.py │ ├── locomotion │ │ ├── __init__.py │ │ ├── advance_skills │ │ │ ├── __init__.py │ │ │ ├── advance_skills_base_env.py │ │ │ ├── advance_skills_env.py │ │ │ ├── config │ │ │ │ ├── __init__.py │ │ │ │ ├── spot │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── agents │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── rsl_rl_cfg.py │ │ │ │ │ ├── augment.py │ │ │ │ │ ├── mdp │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── rewards.py │ │ │ │ │ └── spot_env_cfg.py │ │ │ │ └── spot_with_arm │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── agents │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── rsl_rl_cfg.py │ │ │ │ │ └── spot_env_cfg.py │ │ │ ├── mdp │ │ │ │ ├── __init__.py │ │ │ │ ├── curriculums.py │ │ │ │ ├── observations.py │ │ │ │ └── rewards.py │ │ │ └── terrains │ │ │ │ ├── __init__.py │ │ │ │ └── terrain_cfg.py │ │ ├── risky_terrains │ │ │ ├── __init__.py │ │ │ ├── balance_beams_env.py │ │ │ ├── config │ │ │ │ ├── __init__.py │ │ │ │ ├── anymal_c │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── agents │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── genome_cfg.py │ │ │ │ │ │ └── rsl_rl_cfg.py │ │ │ │ │ ├── anymal_c_env_cfg.py │ │ │ │ │ └── augment.py │ │ │ │ ├── anymal_d │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── agents │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── rsl_rl_cfg.py │ │ │ │ │ ├── anymal_d_env_cfg.py │ │ │ │ │ └── augment.py │ │ │ │ ├── spot │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── agents │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── rsl_rl_cfg.py │ │ │ │ │ ├── augment.py │ │ │ │ │ └── spot_env_cfg.py │ │ │ │ ├── spot_with_arm │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── agents │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ └── rsl_rl_cfg.py │ │ │ │ │ ├── augment.py │ │ │ │ │ └── spot_with_arm_env_cfg.py │ │ │ │ └── terrains │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── terrain_cfg.py │ │ │ ├── mdp │ │ │ │ ├── __init__.py │ │ │ │ ├── commands.py │ │ │ │ ├── commands_cfg.py │ │ │ │ ├── curriculums.py │ │ │ │ ├── events.py │ │ │ │ ├── observations.py │ │ │ │ ├── rewards.py │ │ │ │ └── terminations.py │ │ │ ├── stepping_beams_env.py │ │ │ └── stepping_stones_env.py │ │ └── velocity │ │ │ ├── __init__.py │ │ │ ├── config │ │ │ ├── __init__.py │ │ │ ├── anymal_c │ │ │ │ ├── __init__.py │ │ │ │ ├── agents │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── rl_games_flat_ppo_cfg.yaml │ │ │ │ │ ├── rl_games_rough_ppo_cfg.yaml │ │ │ │ │ ├── rsl_rl_cfg.py │ │ │ │ │ ├── skrl_flat_ppo_cfg.yaml │ │ │ │ │ └── skrl_rough_ppo_cfg.yaml │ │ │ │ ├── flat_env_cfg.py │ │ │ │ └── rough_env_cfg.py │ │ │ ├── spot │ │ │ │ ├── __init__.py │ │ │ │ ├── agents │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ │ ├── flat_env_cfg.py │ │ │ │ ├── mdp │ │ │ │ │ └── __init__.py │ │ │ │ └── rough_env_cfg.py │ │ │ └── spot_with_arm │ │ │ │ ├── __init__.py │ │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ │ ├── flat_env_cfg.py │ │ │ │ ├── mdp │ │ │ │ └── __init__.py │ │ │ │ └── rough_env_cfg.py │ │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── curriculums.py │ │ │ └── rewards.py │ │ │ └── velocity_env_cfg.py │ └── manipulation │ │ ├── __init__.py │ │ ├── factory_extension │ │ ├── __init__.py │ │ ├── assembly_keypoints.py │ │ ├── config │ │ │ ├── __init__.py │ │ │ └── franka │ │ │ │ ├── __init__.py │ │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ │ ├── ik_del_env_cfg.py │ │ │ │ └── joint_pos_env_cfg.py │ │ ├── factory_assets_cfg.py │ │ ├── factory_env_base.py │ │ ├── gearmesh_env_cfg.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── actions │ │ │ │ ├── actions_cfg_nist.py │ │ │ │ └── task_space_actions_nist.py │ │ │ ├── events.py │ │ │ ├── observations.py │ │ │ └── rewards.py │ │ ├── nutthread_env_cfg.py │ │ └── peginsert_env_cfg.py │ │ ├── reset_states │ │ ├── __init__.py │ │ ├── assembly_keypoints.py │ │ ├── config │ │ │ ├── __init__.py │ │ │ └── ur5e_robotiq_2f85 │ │ │ │ ├── __init__.py │ │ │ │ ├── actions.py │ │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ └── rsl_rl_cfg.py │ │ │ │ ├── grasp_sampling_cfg.py │ │ │ │ ├── partial_assemblies_cfg.py │ │ │ │ ├── reset_states_cfg.py │ │ │ │ └── rl_state_cfg.py │ │ └── mdp │ │ │ ├── __init__.py │ │ │ ├── actions │ │ │ ├── __init__.py │ │ │ ├── actions_cfg.py │ │ │ └── task_space_actions.py │ │ │ ├── collision_analyzer.py │ │ │ ├── collision_analyzer_cfg.py │ │ │ ├── commands.py │ │ │ ├── commands_cfg.py │ │ │ ├── events.py │ │ │ ├── observations.py │ │ │ ├── recorders │ │ │ ├── __init__.py │ │ │ ├── recorders.py │ │ │ └── recorders_cfg.py │ │ │ ├── rewards.py │ │ │ ├── rigid_object_hasher.py │ │ │ ├── success_monitor.py │ │ │ ├── success_monitor_cfg.py │ │ │ ├── terminations.py │ │ │ └── utils.py │ │ └── track_goal │ │ ├── __init__.py │ │ ├── config │ │ ├── __init__.py │ │ ├── tycho │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ └── rsl_rl_cfg.py │ │ │ └── tycho_track_goal.py │ │ 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