├── .gitattributes ├── .github ├── CODEOWNERS ├── dependabot.yml └── workflows │ ├── docs.yml │ ├── precommit.yml │ ├── pypi_publish.yml │ └── test.yml ├── .gitignore ├── .hooks └── python_headers.py ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── docs ├── Makefile └── source │ ├── _static │ ├── css │ │ └── compact_table_header.css │ └── images │ │ ├── banner.gif │ │ ├── cylinder_push.gif │ │ ├── favicon-dark.png │ │ ├── favicon-dark.svg │ │ ├── favicon-emoji.svg │ │ ├── favicon-light.png │ │ ├── favicon-light.svg │ │ ├── logo-dark.png │ │ ├── logo-dark.svg │ │ ├── logo-light.png │ │ ├── logo-light.svg │ │ ├── optimizer_dropdown.png │ │ ├── square-logo-dark.png │ │ ├── square-logo-dark.svg │ │ ├── square-logo-light.png │ │ ├── square-logo-light.svg │ │ └── task_dropdown.png │ ├── conf.py │ ├── docs.md │ ├── faq.md │ ├── index.md │ ├── interface │ ├── config_registration.md │ ├── config_with_hydra.md │ ├── gui.md │ ├── index.rst │ ├── intro.md │ ├── optimizers.md │ ├── overrides.md │ └── tasks.md │ └── quickstart.md ├── example_configs └── example.yaml ├── judo ├── __init__.py ├── app │ ├── __init__.py │ ├── asset │ │ └── viser-logo-light.png │ ├── benchmark.py │ ├── dora │ │ ├── controller.py │ │ ├── simulation.py │ │ └── visualization.py │ ├── structs.py │ └── utils.py ├── cli.py ├── config.py ├── configs │ ├── benchmark_default.yaml │ └── judo_dora_default.yaml ├── controller │ ├── __init__.py │ ├── controller.py │ └── overrides.py ├── examples │ ├── example_optimizer.py │ └── example_task.py ├── gui.py ├── models │ └── xml │ │ ├── README.md │ │ ├── caltech_leap_components │ │ ├── assets.xml │ │ ├── leap_rh.xml │ │ ├── params_and_default.xml │ │ └── params_and_default_sim.xml │ │ ├── caltech_leap_cube.xml │ │ ├── caltech_leap_cube_sim.xml │ │ ├── cartpole.xml │ │ ├── cylinder_push.xml │ │ ├── fr3_components │ │ ├── assets.xml │ │ ├── fr3.xml │ │ └── params_and_default.xml │ │ ├── fr3_pick.xml │ │ ├── leap_components │ │ ├── assets.xml │ │ ├── cube_pips_coll.xml │ │ ├── cube_pips_vis.xml │ │ ├── leap_hand.xml │ │ ├── params_and_default.xml │ │ └── params_and_default_sim.xml │ │ ├── leap_cube.xml │ │ ├── leap_cube_palm_down.xml │ │ ├── leap_cube_palm_down_sim.xml │ │ └── leap_cube_sim.xml ├── optimizers │ ├── __init__.py │ ├── base.py │ ├── cem.py │ ├── mppi.py │ ├── overrides.py │ └── ps.py ├── simulation │ ├── __init__.py │ ├── base.py │ └── mj_simulation.py ├── tasks │ ├── README.md │ ├── __init__.py │ ├── base.py │ ├── caltech_leap_cube.py │ ├── cartpole.py │ ├── cost_functions.py │ ├── cylinder_push.py │ ├── fr3_pick.py │ ├── leap_cube.py │ └── leap_cube_down.py ├── utils │ ├── __init__.py │ ├── assets.py │ ├── fields.py │ ├── math_utils.py │ ├── mujoco.py │ └── normalization.py └── visualizers │ ├── __init__.py │ ├── model.py │ ├── utils.py │ └── visualizer.py ├── pixi.lock ├── pyproject.toml └── tests ├── conftest.py ├── test_config.py ├── test_controller ├── 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