├── .gitignore ├── LICENSE ├── README.md ├── checkpoints └── videoae_co3d.tar ├── environment.yaml ├── load_3d.py ├── media └── rl3d.png ├── scripts └── train.sh └── src ├── algorithms ├── factory.py ├── modules.py ├── modules_3d.py ├── per.py ├── rot_utils.py └── sacv2_3d.py ├── arguments.py ├── augmentations.py ├── color_jitter.py ├── env ├── robot │ ├── assets │ │ └── robot │ │ │ ├── fetch │ │ │ ├── base_link.STL │ │ │ ├── base_link_collision.stl │ │ │ ├── bellows_link_collision.stl │ │ │ ├── block_inner.stl │ │ │ ├── block_inner2.stl │ │ │ ├── block_outer.stl │ │ │ ├── elbow_flex_link_collision.stl │ │ │ ├── estop_link.stl │ │ │ ├── forearm_roll_link_collision.stl │ │ │ ├── gripper_link.stl │ │ │ ├── hammer │ │ │ │ ├── hammerblock.stl │ │ │ │ ├── hammerhandle.stl │ │ │ │ ├── hammerhead.stl │ │ │ │ └── nail.stl │ │ │ ├── head_pan_link_collision.stl │ │ │ ├── head_tilt_link_collision.stl │ │ │ ├── l_wheel_link_collision.stl │ │ │ ├── laser_link.stl │ │ │ ├── left_finger.STL │ │ │ ├── left_inner_knuckle.STL │ │ │ ├── left_outer_knuckle.STL │ │ │ ├── lever_axis.stl │ │ │ ├── lever_base.stl │ │ │ ├── lever_handle.stl │ │ │ ├── lever_rod.stl │ │ │ ├── lever_rodbase.stl │ │ │ ├── link1.STL │ │ │ ├── link2.STL │ │ │ ├── link3.STL │ │ │ ├── link4.STL │ │ │ ├── link5.STL │ │ │ ├── link6.STL │ │ │ ├── link7.STL │ │ │ ├── link_base copy.STL │ │ │ ├── link_base.STL │ │ │ ├── r_wheel_link_collision.stl │ │ │ ├── right_finger.STL │ │ │ ├── right_inner_knuckle.STL │ │ │ ├── right_outer_knuckle.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 │ │ │ ├── lift.xml │ │ │ ├── mesh │ │ │ ├── arm │ │ │ │ ├── Base_Link.stl │ │ │ │ ├── Bracelet_Link.stl │ │ │ │ ├── ForeArm_Link.stl │ │ │ │ ├── HalfArm1_Link.stl │ │ │ │ ├── HalfArm2_Link.stl │ │ │ │ ├── Shoulder_Link.stl │ │ │ │ ├── SphericalWrist1_Link.stl │ │ │ │ └── SphericalWrist2_Link.stl │ │ │ ├── robotiq │ │ │ │ ├── inner_finger_coarse.stl │ │ │ │ ├── inner_knuckle_coarse.stl │ │ │ │ ├── kinova_robotiq_coupler.stl │ │ │ │ ├── outer_finger_coarse.stl │ │ │ │ ├── outer_knuckle_coarse.stl │ │ │ │ ├── robotiq_85_base_link.stl │ │ │ │ ├── robotiq_85_base_link_coarse.stl │ │ │ │ ├── robotiq_85_finger_link.stl │ │ │ │ ├── robotiq_85_finger_tip_link.stl │ │ │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ │ │ └── robotiq_85_knuckle_link.stl │ │ │ ├── robotiq_85_gripper │ │ │ │ ├── robotiq_arg2f_85_base_link.stl │ │ │ │ ├── robotiq_arg2f_85_base_link_vis.dae │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ ├── robotiq_arg2f_85_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_85_inner_finger_vis.dae │ │ │ │ ├── robotiq_arg2f_85_inner_finger_vis.stl │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle_vis.dae │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle_vis.stl │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ ├── robotiq_arg2f_85_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_85_outer_finger_vis.dae │ │ │ │ ├── robotiq_arg2f_85_outer_finger_vis.stl │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle_vis.dae │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle_vis.stl │ │ │ │ ├── robotiq_arg2f_85_pad_vis.dae │ │ │ │ ├── robotiq_arg2f_85_pad_vis.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ └── robotiq_gripper_coupling_vis.stl │ │ │ ├── xarm │ │ │ │ ├── link1.STL │ │ │ │ ├── link2.STL │ │ │ │ ├── link3.STL │ │ │ │ ├── link4.STL │ │ │ │ ├── link5.STL │ │ │ │ ├── link6.STL │ │ │ │ ├── link7.STL │ │ │ │ └── link_base.STL │ │ │ └── xarm_gripper │ │ │ │ ├── base_link.STL │ │ │ │ ├── left_finger.STL │ │ │ │ ├── left_inner_knuckle.STL │ │ │ │ ├── left_outer_knuckle.STL │ │ │ │ ├── right_finger.STL │ │ │ │ ├── right_inner_knuckle.STL │ │ │ │ └── right_outer_knuckle.STL │ │ │ ├── peg_in_box.xml │ │ │ ├── push.xml │ │ │ ├── reach.xml │ │ │ ├── robot_gen3.xml │ │ │ ├── robot_xarm_real.xml │ │ │ ├── shared.xml │ │ │ └── texture │ │ │ ├── block.png │ │ │ ├── block_hidden.png │ │ │ ├── brick1.png │ │ │ ├── carpet-black.png │ │ │ ├── concrete.png │ │ │ ├── light_wood.png │ │ │ ├── metal1.png │ │ │ ├── sponge.png │ │ │ ├── table1.png │ │ │ └── wood1.png │ ├── base.py │ ├── gym_utils.py │ ├── lift.py │ ├── peg_in_box.py │ ├── push.py │ ├── reach.py │ └── registration.py └── wrappers.py ├── logger.py ├── train.py ├── utils.py └── video.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YanjieZe/rl3d/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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