├── .gitattributes ├── .gitignore ├── LICENSE.md ├── README.md ├── examples ├── embodied_environments │ └── pusht_embodied │ │ ├── assets │ │ └── robots │ │ │ ├── meshes │ │ │ └── franka │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.mtl │ │ │ │ ├── link0.obj │ │ │ │ ├── link0.stl │ │ │ │ ├── link0_original.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link1_original.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link2_original.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link3_original.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link4_original.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link5_original.stl │ │ │ │ ├── link6.stl │ │ │ │ ├── link6_original.stl │ │ │ │ ├── link7.stl │ │ │ │ ├── link7_original.stl │ │ │ │ └── pusher.stl │ │ │ └── panda.urdf │ │ ├── environment │ │ ├── extrinsics.json │ │ ├── ground.npy │ │ └── ground_plane.json │ │ ├── objects │ │ ├── ground.json │ │ └── tblock.json │ │ ├── pusht_embodied.py │ │ └── sample_demos │ │ └── 0 │ │ ├── cameras.json │ │ ├── robots.json │ │ └── videos │ │ ├── 220422302296.json │ │ ├── 220422302296.mp4 │ │ ├── 234222302164.json │ │ ├── 234222302164.mp4 │ │ ├── 234222303707.json │ │ └── 234222303707.mp4 ├── example_embodied_pusht_offline.py ├── example_pusht.py ├── example_pusht_datacollector.py ├── example_pusht_datainspector.py ├── helpers │ └── canvas_2d.py ├── output │ └── pusht_data │ │ ├── 0 │ │ ├── builder.pckl │ │ ├── control_joint_act │ │ │ ├── c │ │ │ │ └── 0 │ │ │ │ │ └── 0 │ │ │ └── zarr.json │ │ ├── state_body_f │ │ │ ├── c │ │ │ │ └── 0 │ │ │ │ │ └── 0 │ │ │ │ │ └── 0 │ │ │ └── zarr.json │ │ ├── state_body_q │ │ │ ├── c │ │ │ │ └── 0 │ │ │ │ │ └── 0 │ │ │ │ │ └── 0 │ │ │ └── zarr.json │ │ ├── state_body_qd │ │ │ ├── c │ │ │ │ └── 0 │ │ │ │ │ └── 0 │ │ │ │ │ └── 0 │ │ │ └── zarr.json │ │ ├── state_joint_q │ │ │ ├── c │ │ │ │ └── 0 │ │ │ │ │ └── 0 │ │ │ └── zarr.json │ │ ├── state_joint_qd │ │ │ ├── c │ │ │ │ └── 0 │ │ │ │ │ └── 0 │ │ │ └── zarr.json │ │ ├── timestamps │ │ │ ├── c │ │ │ │ └── 0 │ │ │ └── zarr.json │ │ └── zarr.json │ │ └── 1 │ │ ├── builder.pckl │ │ ├── control_joint_act │ │ ├── c │ │ │ └── 0 │ │ │ │ └── 0 │ │ └── zarr.json │ │ ├── state_body_f │ │ ├── c │ │ │ └── 0 │ │ │ │ └── 0 │ │ │ │ └── 0 │ │ └── zarr.json │ │ ├── state_body_q │ │ ├── c │ │ │ └── 0 │ │ │ │ └── 0 │ │ │ │ └── 0 │ │ └── zarr.json │ │ ├── state_body_qd │ │ ├── c │ │ │ └── 0 │ │ │ │ └── 0 │ │ │ │ └── 0 │ │ └── zarr.json │ │ ├── state_joint_q │ │ ├── c │ │ │ └── 0 │ │ │ │ └── 0 │ │ └── zarr.json │ │ ├── state_joint_qd │ │ ├── c │ │ │ └── 0 │ │ │ │ └── 0 │ │ └── zarr.json │ │ ├── timestamps │ │ ├── c │ │ │ └── 0 │ │ └── zarr.json │ │ └── zarr.json └── sim_environments │ ├── assets │ └── pusher.urdf │ └── pusht.py ├── imgui.ini ├── pixi.lock ├── pyproject.toml ├── scripts ├── build_body_from_pointcloud.py ├── build_simple_body.py ├── example_extrinsics.json ├── example_ground_plane.json ├── example_ground_plane.npy ├── example_object.json ├── find_ground.py ├── utils.py └── visualize_object.py ├── src ├── embodied_gaussians │ ├── __init__.py │ ├── dataset │ │ ├── dataset_manager.py │ │ └── dataset_visualizer.py │ ├── embodied_simulator │ │ ├── __init__.py │ │ ├── adam.py │ │ ├── appearance_optimizer.py │ │ ├── builder.py │ │ ├── frames.py │ │ ├── gaussians.py │ │ ├── loader.py │ │ ├── offline_camera.py │ │ ├── offline_cameras.py │ │ ├── saver.py │ │ ├── simulator.py │ │ ├── visual_forces.py │ │ └── warp.py │ ├── embodied_visualizer │ │ ├── __init__.py │ │ ├── embodied_viewer.py │ │ └── visualizer.py │ ├── environments │ │ ├── embodied_environment.py │ │ ├── environment.py │ │ └── virtual_cameras.py │ ├── physics_simulator │ │ ├── builder.py │ │ ├── integrator.py │ │ ├── loader.py │ │ ├── saver.py │ │ └── simulator.py │ ├── physics_visualizer │ │ ├── simulation_gui.py │ │ └── simulation_viewer.py │ ├── scene_builders │ │ ├── domain.py │ │ ├── pointcloud_body_builder.py │ │ ├── simple_body_builder.py │ │ ├── simple_visualizer.py │ │ └── warp_utils.py │ ├── utils │ │ ├── physics_utils.py │ │ └── utils.py │ └── vis │ │ └── __init__.py ├── ground_finder │ ├── __init__.py │ └── ground_finder.py ├── quick_segmentor │ ├── __init__.py │ └── quick_segmentor.py └── sam_segmentor │ ├── __init__.py │ └── sam_segementor.py └── static ├── embodied_demo.gif ├── ground_detection_example.png ├── logo.jpeg └── scene_builder_segmentation.png /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bdaiinstitute/embodied_gaussians/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bdaiinstitute/embodied_gaussians/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 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