├── .DS_Store ├── .gitignore ├── LICENSE ├── README.md ├── _config.yml ├── assets ├── hardresults.gif ├── legresults.jpg ├── methodology.jpg ├── simresults.gif └── stochresults.gif ├── controllers ├── .DS_Store ├── demorl.py ├── truncated_normal.py └── utils.py ├── core.py ├── envs ├── .DS_Store ├── __init__.py └── environments │ ├── __init__.py │ ├── dexterous_gym │ ├── __init__.py │ ├── core │ │ ├── __init__.py │ │ ├── two_hand_robot_env.py │ │ └── two_hands_env.py │ ├── envs │ │ ├── __init__.py │ │ ├── block_hand_over.py │ │ ├── egg_hand_over.py │ │ ├── hand │ │ │ ├── block_catch_overarm.xml │ │ │ ├── block_catch_underarm.xml │ │ │ ├── block_catch_underarm_hard.xml │ │ │ ├── block_handover.xml │ │ │ ├── egg_catch_overarm.xml │ │ │ ├── egg_catch_underarm.xml │ │ │ ├── egg_catch_underarm_hard.xml │ │ │ ├── egg_handover.xml │ │ │ ├── manipulate_pen.xml │ │ │ ├── pen_catch_overarm.xml │ │ │ ├── pen_catch_underarm.xml │ │ │ ├── pen_catch_underarm_hard.xml │ │ │ ├── pen_handover.xml │ │ │ ├── robot.xml │ │ │ ├── shared.xml │ │ │ ├── shared_asset.xml │ │ │ ├── shared_two.xml │ │ │ ├── two_block_catch_underarm.xml │ │ │ ├── two_egg_catch_underarm.xml │ │ │ └── two_pen_catch_underarm.xml │ │ ├── pen_hand_over.py │ │ ├── pen_spin.py │ │ └── textures │ │ │ ├── block.png │ │ │ └── block_hidden.png │ └── examples │ │ ├── __init__.py │ │ ├── eggcatch.gif │ │ ├── eggcatchoverarm_still.png │ │ ├── egghandover.gif │ │ ├── penspin.gif │ │ ├── test_all_envs.py │ │ └── twoeggcatch_error.gif │ ├── pddm │ ├── env_models │ │ ├── dclaw │ │ │ ├── assets │ │ │ │ ├── chain3xh.xml │ │ │ │ ├── chain3xh_overlay.xml │ │ │ │ ├── dependencies3xh.xml │ │ │ │ └── valve3.xml │ │ │ ├── dclaw3xh.xml │ │ │ └── dclaw_stations │ │ │ │ └── dependencies.xml │ │ ├── scenes │ │ │ ├── basic_scene.xml │ │ │ └── textures │ │ │ │ ├── metal.png │ │ │ │ ├── white_marble_tile2.png │ │ │ │ └── wood.png │ │ └── shadowhand │ │ │ └── resources │ │ │ ├── assets.xml │ │ │ ├── chain.xml │ │ │ ├── chain1.xml │ │ │ ├── joint_position_actuation.xml │ │ │ └── textures │ │ │ ├── darkwood.png │ │ │ ├── dice.png │ │ │ ├── foil.png │ │ │ ├── marble.png │ │ │ ├── silverRaw.png │ │ │ ├── skin.png │ │ │ ├── square.png │ │ │ ├── wood.png │ │ │ └── woodb.png │ ├── envs │ │ ├── __init__.py │ │ ├── cube │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── dice.png │ │ │ │ ├── object_dice.xml │ │ │ │ └── shadowhand_hand_cube.xml │ │ │ └── cube_env.py │ │ ├── dclaw │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ └── dclaw_valve3.xml │ │ │ └── dclaw_turn_env.py │ │ ├── gym_env.py │ │ ├── mb_env.py │ │ ├── mujoco_env.py │ │ ├── robot.py │ │ ├── simulation │ │ │ ├── module.py │ │ │ ├── renderer.py │ │ │ └── sim_robot.py │ │ └── utils │ │ │ └── quatmath.py │ └── utils │ │ ├── __init__.py │ │ ├── data_structures.py │ │ └── helper_funcs.py │ ├── stoch_env │ ├── Wedges │ │ ├── downhill │ │ │ ├── manifest.xml │ │ │ ├── meshes │ │ │ │ └── ramp_5.STL │ │ │ └── urdf │ │ │ │ ├── wedge_11.urdf │ │ │ │ ├── wedge_13.urdf │ │ │ │ ├── wedge_15.urdf │ │ │ │ ├── wedge_5.urdf │ │ │ │ ├── wedge_7.urdf │ │ │ │ └── wedge_9.urdf │ │ ├── ramp_5 │ │ │ ├── manifest.xml │ │ │ ├── meshes │ │ │ │ └── ramp_5.STL │ │ │ └── urdf │ │ │ │ ├── wedge_11.urdf │ │ │ │ ├── wedge_13.urdf │ │ │ │ ├── wedge_5.urdf │ │ │ │ ├── wedge_7.urdf │ │ │ │ └── wedge_9.urdf │ │ └── uphill │ │ │ ├── manifest.xml │ │ │ ├── meshes │ │ │ └── ramp_5.STL │ │ │ └── urdf │ │ │ ├── wedge_11.urdf │ │ │ ├── wedge_13.urdf │ │ │ ├── wedge_15.urdf │ │ │ ├── wedge_5.urdf │ │ │ ├── wedge_7.urdf │ │ │ └── wedge_9.urdf │ ├── arbitary_slopes_env.py │ ├── bullet_client.py │ ├── planeEstimation │ │ └── get_terrain_normal.py │ ├── robots │ │ └── stochlite │ │ │ ├── stochlite_description │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ │ └── display.launch │ │ │ ├── meshes │ │ │ │ ├── base_link_torso.STL │ │ │ │ ├── bl_abd_link.STL │ │ │ │ ├── bl_shank_link.STL │ │ │ │ ├── bl_thigh_link.STL │ │ │ │ ├── br_abd_link.STL │ │ │ │ ├── br_shank_link.STL │ │ │ │ ├── br_thigh_link.STL │ │ │ │ ├── fl_abd_link.STL │ │ │ │ ├── fl_shank_link.STL │ │ │ │ ├── fl_thigh_link.STL │ │ │ │ ├── fr_abd_link.STL │ │ │ │ ├── fr_shank_link.STL │ │ │ │ └── fr_thigh_link.STL │ │ │ ├── package.xml │ │ │ └── urdf │ │ │ │ └── stochlite_urdf.urdf │ │ │ └── stochlite_gazebo │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ └── stochlite_world.launch │ │ │ └── package.xml │ ├── stochlite_pybullet_env.py │ ├── track │ │ ├── block1_11_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── block2_11_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── block2_9_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── block3_11_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── block3_9_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── block4_9_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── final_newest_wedges (1).7z │ │ ├── newest_wedges (1).7z │ │ ├── pyramid │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── stairs_wedge_down │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ ├── model.urdf │ │ │ ├── texture.jpg │ │ │ ├── texture3.jpg │ │ │ ├── texture_1.jpg │ │ │ ├── texture_2.jpg │ │ │ └── texture_4.jpg │ │ ├── up_sidehill │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── visualizer.py │ │ ├── wedge_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── wedge_13 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── wedge_15 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── wedge_7 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── wedge_9 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ ├── wedge_unsymmetric │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ └── wedges │ │ │ ├── block1_11_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ │ ├── block2_11_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ │ ├── block3_11_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ │ ├── wedge_11 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ │ ├── wedge_13 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ │ ├── wedge_15 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ │ ├── wedge_7 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ │ │ └── wedge_9 │ │ │ ├── model.config │ │ │ ├── model.sdf │ │ │ └── model.urdf │ ├── trajectory_generator.py │ ├── utils │ │ ├── ik_class.py │ │ ├── joystick.py │ │ ├── logger.py │ │ ├── make_train_plots.py │ │ ├── policy_mask_allcmd.npy │ │ ├── policy_mask_allcmd_19.npy │ │ ├── policy_mask_allcmd_noz.npy │ │ ├── policy_mask_nocmd.npy │ │ └── zero_policy.npy │ └── walking_controller.py │ └── utils.py ├── generate_plots.py ├── logger.py ├── models ├── .DS_Store ├── model_PETS.py └── 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