├── .gitignore ├── LICENSE ├── README.md ├── docs ├── readme_images │ ├── balance_env_snapshot.png │ ├── edge_env_snapshot.png │ ├── env_combined_v2.png │ ├── paper_overview.png │ ├── push_env_snapshot.png │ ├── roll_env_snapshot.png │ ├── surface_env_snapshot.png │ └── tactile_gym_hierarchy.png └── readme_videos │ ├── edge_follow.gif │ ├── object_balance.gif │ ├── object_push.gif │ ├── object_roll.gif │ ├── sim_mg400_digit_edge.gif │ ├── sim_mg400_digitac_push.gif │ ├── sim_mg400_tactip_surf.gif │ ├── sim_ur5_digit_surf.gif │ ├── sim_ur5_digitac_balance.gif │ ├── surf_arm_transfer.gif │ └── surface_follow.gif ├── examples ├── demo_env.py └── demo_trained_agents.py ├── requirements.txt ├── setup.py └── tactile_gym ├── __init__.py ├── assets ├── __init__.py ├── exploration │ └── edge_follow │ │ └── edge_stimuli │ │ ├── ball │ │ └── ball.urdf │ │ ├── circle │ │ └── circle.urdf │ │ ├── clover │ │ ├── clover.blend │ │ ├── clover.blend1 │ │ ├── clover.mtl │ │ ├── clover.obj │ │ └── clover.urdf │ │ ├── foil │ │ ├── foil.blend │ │ ├── foil.blend1 │ │ ├── foil.mtl │ │ ├── foil.obj │ │ └── foil.urdf │ │ ├── long_edge_flat │ │ ├── long_edge.blend │ │ ├── long_edge.blend1 │ │ ├── long_edge.mtl │ │ ├── long_edge.obj │ │ ├── long_edge.urdf │ │ └── short_edge.urdf │ │ ├── long_edge_sharp │ │ ├── long_edge.blend │ │ ├── long_edge.blend1 │ │ ├── long_edge.mtl │ │ ├── long_edge.obj │ │ └── long_edge_sharp.urdf │ │ ├── saddle │ │ ├── meshes │ │ │ └── base_link.STL │ │ └── saddle.urdf │ │ ├── saddle_for_3d │ │ ├── meshes │ │ │ └── base_link.STL │ │ └── saddle_for_3d.urdf │ │ └── square │ │ ├── square.blend │ │ ├── square.blend1 │ │ ├── square.mtl │ │ ├── square.obj │ │ └── square.urdf ├── nonprehensile_manipulation │ ├── object_balance │ │ ├── pole │ │ │ └── pole.urdf │ │ ├── round_plate │ │ │ └── round_plate.urdf │ │ ├── sphere │ │ │ ├── checker_blue_yellow.png │ │ │ ├── sphere.mtl │ │ │ ├── sphere.obj │ │ │ ├── sphere.urdf │ │ │ └── sphere_tex.urdf │ │ └── spinning_plate │ │ │ ├── checker_blue_yellow.png │ │ │ ├── plate_buffer.mtl │ │ │ ├── plate_buffer.obj │ │ │ ├── plate_buffer.urdf │ │ │ ├── spinning_plate.mtl │ │ │ ├── spinning_plate.obj │ │ │ ├── spinning_plate.urdf │ │ │ ├── spinning_plate_tex.mtl │ │ │ ├── spinning_plate_tex.obj │ │ │ └── spinning_plate_tex.urdf │ ├── object_push │ │ ├── cube │ │ │ └── cube.urdf │ │ ├── doraemon_bowl │ │ │ ├── collision.obj │ │ │ ├── model.urdf │ │ │ ├── textured.obj │ │ │ ├── textured.obj.mtl │ │ │ ├── textured_map.jpg │ │ │ └── visual.ply │ │ ├── green_cup │ │ │ ├── collision.obj │ │ │ ├── model.urdf │ │ │ ├── texture_map.jpg │ │ │ ├── textured.mtl │ │ │ ├── textured.obj │ │ │ └── visual.ply │ │ ├── lipton_tea │ │ │ ├── collision.obj │ │ │ ├── model.urdf │ │ │ ├── texture_map.jpg │ │ │ ├── textured.mtl │ │ │ ├── textured.obj │ │ │ └── visual.ply │ │ └── pink_tea_box │ │ │ ├── collision.obj │ │ │ ├── model.urdf │ │ │ ├── texture_map.jpg │ │ │ ├── textured.obj │ │ │ ├── textured.obj.mtl │ │ │ └── visual.ply │ └── object_roll │ │ └── sphere │ │ ├── checker_blue_yellow.png │ │ ├── sphere.mtl │ │ ├── sphere.obj │ │ ├── sphere.urdf │ │ └── sphere_tex.urdf └── shared_assets │ └── environment_objects │ └── goal_indicators │ └── sphere_indicator.urdf ├── envs ├── __init__.py ├── base_tactile_env.py ├── example_envs │ ├── __init__.py │ └── example_arm_env │ │ ├── __init__.py │ │ └── example_arm_env.py ├── exploration │ ├── __init__.py │ ├── edge_follow │ │ ├── __init__.py │ │ └── edge_follow_env.py │ └── surface_follow │ │ ├── __init__.py │ │ ├── base_surface_env.py │ │ ├── surface_follow_auto │ │ ├── __init__.py │ │ └── surface_follow_auto_env.py │ │ └── surface_follow_goal │ │ ├── __init__.py │ │ └── surface_follow_goal_env.py └── nonprehensile_manipulation │ ├── __init__.py │ ├── base_object_env.py │ ├── object_balance │ ├── __init__.py │ ├── object_balance_env.py │ └── rest_poses.py │ ├── object_push │ ├── __init__.py │ ├── object_push_env.py │ └── rest_poses.py │ └── object_roll │ ├── __init__.py │ └── object_roll_env.py ├── sb3_helpers ├── __init__.py ├── custom │ ├── __init__.py │ ├── custom_callbacks.py │ └── custom_torch_layers.py ├── eval_agent.py ├── params │ ├── __init__.py │ ├── default_params.py │ ├── edge_follow_params.py │ ├── example_arm_params.py │ ├── object_balance_params.py │ ├── object_push_params.py │ ├── object_roll_params.py │ ├── surface_follow_auto_params.py │ └── surface_follow_goal_params.py ├── rl_plot_utils.py ├── rl_utils.py ├── simple_sb3_example.py └── train_agent.py └── utils └── demo_utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexterousrobot/tactile_gym/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexterousrobot/tactile_gym/HEAD/LICENSE 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