├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── config ├── __init__.py ├── motion_planner.py ├── pusher.py └── sawyer.py ├── docs ├── content.md ├── img │ ├── 2D_push.png │ ├── clvrbanner.png │ ├── favicon-32x32.png │ ├── method.png │ ├── result.png │ ├── sawyer_assembly.png │ ├── sawyer_lift.png │ ├── sawyer_push.png │ └── teaser.png ├── index.html ├── js │ └── figure-extension.js ├── theme.css └── video │ ├── push_baseline.mp4 │ ├── sawyer_assembly_baseline.mp4 │ ├── sawyer_assembly_baseline_lg.mp4 │ ├── sawyer_assembly_mopa.mp4 │ ├── sawyer_lift_baseline.mp4 │ ├── sawyer_lift_baseline_lg.mp4 │ ├── sawyer_lift_mopa.gif │ ├── sawyer_lift_mopa.mp4 │ ├── sawyer_push_baseline.mp4 │ ├── sawyer_push_baseline_lg.mp4 │ ├── sawyer_push_mopa.gif │ ├── sawyer_push_mopa.mp4 │ └── teaser.gif ├── env ├── __init__.py ├── assets │ ├── meshes │ │ ├── sawyer │ │ │ ├── base.stl │ │ │ ├── head.stl │ │ │ ├── l0.stl │ │ │ ├── l1.stl │ │ │ ├── l2.stl │ │ │ ├── l3.stl │ │ │ ├── l4.stl │ │ │ ├── l5.stl │ │ │ ├── l6.stl │ │ │ └── pedestal.stl │ │ ├── toy_table │ │ │ ├── 0.stl │ │ │ ├── 1.stl │ │ │ ├── 2.stl │ │ │ ├── 3.stl │ │ │ └── 4.stl │ │ └── two_finger_gripper │ │ │ ├── electric_gripper_base.STL │ │ │ ├── half_round_tip.STL │ │ │ └── standard_narrow.STL │ ├── objects │ │ ├── can-visual.xml │ │ ├── can.xml │ │ └── meshes │ │ │ └── can.stl │ ├── textures │ │ ├── can.png │ │ ├── dark-wood.png │ │ ├── grid.png │ │ └── light-wood.png │ └── xml │ │ ├── common │ │ ├── basic_scene.xml │ │ ├── camera.xml │ │ ├── gripper_assembly_chain.xml │ │ ├── gripper_chain.xml │ │ ├── gripper_indicator_chain.xml │ │ ├── gripper_pick_chain.xml │ │ ├── gripper_pick_indicator_chain.xml │ │ ├── gripper_pick_pos_act.xml │ │ ├── gripper_pick_target_chain.xml │ │ ├── gripper_pos_act.xml │ │ ├── gripper_target_chain.xml │ │ ├── materials.xml │ │ ├── pusher.xml │ │ ├── pusher_gripper.xml │ │ ├── sawyer.xml │ │ ├── sawyer_assembly.xml │ │ ├── sawyer_assembly_chain.xml │ │ ├── sawyer_chain.xml │ │ ├── sawyer_dependencies.xml │ │ ├── sawyer_indicator_chain.xml │ │ ├── sawyer_joint_pos_act.xml │ │ ├── sawyer_no_gripper.xml │ │ ├── sawyer_no_gripper_chain.xml │ │ ├── sawyer_no_gripper_indicator_chain.xml │ │ ├── sawyer_no_gripper_target_chain.xml │ │ ├── sawyer_pick.xml │ │ ├── sawyer_pick_chain.xml │ │ ├── sawyer_pick_indicator_chain.xml │ │ ├── sawyer_pick_target_chain.xml │ │ ├── sawyer_target_chain.xml │ │ ├── skybox.xml │ │ ├── target.xml │ │ └── visual.xml │ │ ├── pusher_obstacle.xml │ │ ├── sawyer.xml │ │ ├── sawyer_assembly.xml │ │ ├── sawyer_assembly_obstacle.xml │ │ ├── sawyer_lift.xml │ │ ├── sawyer_lift_obstacle.xml │ │ ├── sawyer_push.xml │ │ └── sawyer_push_obstacle.xml ├── base.py ├── inverse_kinematics.py ├── pusher │ ├── __init__.py │ └── pusher_obstacle.py └── sawyer │ ├── __init__.py │ ├── sawyer.py │ ├── sawyer_assembly.py │ ├── sawyer_assembly_obstacle.py │ ├── sawyer_lift.py │ ├── sawyer_lift_obstacle.py │ ├── sawyer_push.py │ └── sawyer_push_obstacle.py ├── motion_planners ├── 3rd_party │ └── include │ │ └── cxxopts.hpp ├── KinematicPlanner.cpp ├── __init__.py ├── include │ ├── KinematicPlanner.h │ ├── c_planner.pxd.bak │ ├── compound_state_projector.h │ ├── mujoco_ompl_interface.h │ ├── mujoco_wrapper.h │ └── plan.pxd.bak ├── planner.cpp ├── planner.pyx ├── sampling_based_planner.py ├── setup.py ├── setup_macos.py └── src │ ├── compound_state_projector.cpp │ ├── mujoco_ompl_interface.cpp │ └── mujoco_wrapper.cpp ├── requirements.txt ├── rl ├── __init__.py ├── base_agent.py ├── dataset.py ├── main.py ├── mopa_rollouts.py ├── planner_agent.py ├── policies │ ├── __init__.py │ ├── actor_critic.py │ ├── distributions.py │ ├── mlp_actor_critic.py │ └── utils.py ├── rollouts.py ├── sac_agent.py ├── td3_agent.py └── trainer.py ├── scripts ├── 2d │ ├── baseline.sh │ ├── baseline_ik.sh │ ├── baseline_lg.sh │ ├── mopa.sh │ ├── mopa_discrete.sh │ └── mopa_ik.sh ├── 3d │ ├── assembly │ │ ├── baseline.sh │ │ ├── baseline_ik.sh │ │ ├── baseline_lg.sh │ 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