├── .github └── workflows │ └── test.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── CITATION.cff ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── deformable_gym ├── __init__.py ├── assets │ ├── __init__.py │ ├── meshes │ │ ├── collision │ │ │ └── robotiq │ │ │ │ ├── mountings │ │ │ │ └── robotiq_ft300-G-062-COUPLING_G-50-4M6-1D6_20181119.STL │ │ │ │ ├── robotiq_ft300.STL │ │ │ │ └── robotiq_fts150.stl │ │ ├── components │ │ │ ├── cable_connector │ │ │ │ ├── cable_connector_base_E3M5.dae │ │ │ │ └── cable_connector_palm_E3M5.dae │ │ │ ├── f_distal │ │ │ │ ├── bt_2p │ │ │ │ │ ├── f_distal_bt_2p.dae │ │ │ │ │ └── f_distal_bt_2p_adapter.dae │ │ │ │ ├── bt_sp │ │ │ │ │ └── f_distal_bt_sp.dae │ │ │ │ └── pst │ │ │ │ │ └── f_distal_pst.dae │ │ │ ├── f_knuckle │ │ │ │ ├── f_knuckle_C6M2.dae │ │ │ │ ├── f_knuckle_E2M3.dae │ │ │ │ ├── f_knuckle_E3M5.dae │ │ │ │ └── f_knuckle_G1M5.dae │ │ │ ├── f_middle │ │ │ │ ├── f_middle_C6M2.dae │ │ │ │ ├── f_middle_E2M3.dae │ │ │ │ ├── f_middle_E3M5.dae │ │ │ │ └── f_middle_G1M5.dae │ │ │ ├── f_proximal │ │ │ │ ├── f_proximal_C6M2.dae │ │ │ │ ├── f_proximal_E2M3.dae │ │ │ │ ├── f_proximal_E3M5.dae │ │ │ │ └── f_proximal_G1M5.dae │ │ │ ├── forearm │ │ │ │ ├── forearm_C6M2.dae │ │ │ │ ├── forearm_E2M3.dae │ │ │ │ ├── forearm_E3M5.dae │ │ │ │ ├── forearm_G1M5.dae │ │ │ │ ├── forearm_collision_C6M2.dae │ │ │ │ ├── forearm_collision_E2M3.dae │ │ │ │ └── forearm_collision_E3M5.dae │ │ │ ├── lf_metacarpal │ │ │ │ ├── lf_metacarpal_C6M2.dae │ │ │ │ ├── lf_metacarpal_E2M3.dae │ │ │ │ └── lf_metacarpal_E3M5.dae │ │ │ ├── mounting_plate │ │ │ │ ├── mounting_plate_E3M5.dae │ │ │ │ └── mounting_plate_G1M5.dae │ │ │ ├── palm │ │ │ │ ├── palm_C6M2.dae │ │ │ │ ├── palm_E2M3.dae │ │ │ │ ├── palm_E3M5.dae │ │ │ │ └── palm_G1M5.dae │ │ │ ├── th_distal │ │ │ │ ├── bt_2p │ │ │ │ │ ├── th_distal_bt_2p.dae │ │ │ │ │ └── th_distal_bt_2p_adapter.dae │ │ │ │ ├── bt_sp │ │ │ │ │ └── th_distal_bt_sp.dae │ │ │ │ └── pst │ │ │ │ │ └── th_distal_pst.dae │ │ │ ├── th_middle │ │ │ │ ├── th_middle_C6M2.dae │ │ │ │ ├── th_middle_E2M3.dae │ │ │ │ ├── th_middle_E3M5.dae │ │ │ │ └── th_middle_G1M5.dae │ │ │ ├── th_proximal │ │ │ │ ├── th_proximal_C6M2.dae │ │ │ │ ├── th_proximal_E2M3.dae │ │ │ │ ├── th_proximal_E3M5.dae │ │ │ │ └── th_proximal_G1M5.dae │ │ │ └── wrist │ │ │ │ ├── wrist_C6M2.dae │ │ │ │ ├── wrist_E2M3.dae │ │ │ │ └── wrist_E3M5.dae │ │ ├── insole.msh │ │ ├── pillow_small.msh │ │ ├── shadow_hand │ │ │ ├── f_distal_pst.obj │ │ │ ├── f_distal_pst │ │ │ │ └── f_distal_pst.obj │ │ │ ├── f_knuckle.obj │ │ │ ├── f_knuckle │ │ │ │ └── f_knuckle.obj │ │ │ ├── f_middle.obj │ │ │ ├── f_middle │ │ │ │ └── f_middle.obj │ │ │ ├── f_proximal.obj │ │ │ ├── f_proximal │ │ │ │ └── f_proximal.obj │ │ │ ├── forearm_0.obj │ │ │ ├── forearm_1.obj │ │ │ ├── forearm_collision.obj │ │ │ ├── forearm_collision │ │ │ │ └── forearm_collision.obj │ │ │ ├── lf_metacarpal.obj │ │ │ ├── lf_metacarpal │ │ │ │ └── lf_metacarpal.obj │ │ │ ├── mounting_plate.obj │ │ │ ├── mounting_plate │ │ │ │ └── mounting_plate.obj │ │ │ ├── palm.obj │ │ │ ├── palm │ │ │ │ └── palm.obj │ │ │ ├── right_hand.xml │ │ │ ├── th_distal_pst.obj │ │ │ ├── th_distal_pst │ │ │ │ └── th_distal_pst.obj │ │ │ ├── th_middle.obj │ │ │ ├── th_middle │ │ │ │ └── th_middle.obj │ │ │ ├── th_proximal.obj │ │ │ ├── th_proximal │ │ │ │ └── th_proximal.obj │ │ │ ├── wrist.obj │ │ │ └── wrist │ │ │ │ └── wrist.obj │ │ ├── stl │ │ │ ├── 1.001.stl │ │ │ ├── UR_flange.stl │ │ │ ├── dorsum_simple.stl │ │ │ ├── index_finger.stl │ │ │ ├── index_tip.stl │ │ │ ├── little_finger.stl │ │ │ ├── little_tip.stl │ │ │ ├── middle_finger.stl │ │ │ ├── middle_tip.stl │ │ │ ├── palm_simple.stl │ │ │ ├── ring_finger.stl │ │ │ ├── ring_tip.stl │ │ │ ├── thumb_cover.stl │ │ │ ├── thumb_frame.stl │ │ │ ├── thumb_metacarpus.stl │ │ │ └── wrist.stl │ │ ├── ur10 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur10e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur16e │ │ │ ├── collision │ │ │ │ ├── forearm.stl │ │ │ │ └── upperarm.stl │ │ │ └── visual │ │ │ │ ├── forearm.dae │ │ │ │ └── upperarm.dae │ │ ├── ur3 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur5 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur5e │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── visual │ │ │ └── robotiq │ │ │ ├── mountings │ │ │ └── robotiq_ft300-G-062-COUPLING_G-50-4M6-1D6_20181119.STL │ │ │ ├── robotiq_ft300.STL │ │ │ └── robotiq_fts150.stl │ ├── mj_scene_base.xml │ ├── objects │ │ ├── __init__.py │ │ ├── insole.vtk │ │ ├── mjcf │ │ │ ├── __init__.py │ │ │ ├── insole_fixed.xml │ │ │ └── pillow_fixed.xml │ │ └── pillow_small.vtk │ └── robots │ │ ├── __init__.py │ │ ├── mjcf │ │ ├── include │ │ │ ├── asset │ │ │ │ ├── mia_hand.xml │ │ │ │ ├── shadow_hand.xml │ │ │ │ ├── ur10.xml │ │ │ │ ├── ur10e.xml │ │ │ │ ├── ur10ft.xml │ │ │ │ └── ur5.xml │ │ │ ├── default │ │ │ │ ├── mia_hand.xml │ │ │ │ ├── shadow_hand.xml │ │ │ │ ├── ur10.xml │ │ │ │ ├── ur10e.xml │ │ │ │ ├── ur10ft.xml │ │ │ │ └── ur5.xml │ │ │ └── hand │ │ │ │ ├── mia_hand_component.xml │ │ │ │ ├── mia_hand_misc.xml │ │ │ │ ├── shadow_hand_component.xml │ │ │ │ └── shadow_hand_misc.xml │ │ ├── mia_hand.xml │ │ ├── mia_hand_on_ur10.xml │ │ ├── mia_hand_on_ur10_ft.xml │ │ ├── mia_hand_on_ur10e.xml │ │ ├── mia_hand_on_ur5.xml │ │ ├── mocap.xml │ │ ├── shadow_hand.xml │ │ ├── shadow_hand_on_ur10.xml │ │ ├── shadow_hand_on_ur10e.xml │ │ ├── shadow_hand_on_ur5.xml │ │ ├── ur10.xml │ │ ├── ur10e.xml │ │ ├── ur10ft.xml │ │ └── ur5.xml │ │ └── urdf │ │ ├── __init__.py │ │ ├── mia_hand.urdf │ │ ├── mia_hand_on_ur10.urdf │ │ ├── mia_hand_on_ur10_ft.urdf │ │ ├── mia_hand_on_ur10e.urdf │ │ ├── mia_hand_on_ur5.urdf │ │ ├── shadow_hand.urdf │ │ ├── shadow_hand_on_ur10.urdf │ │ ├── shadow_hand_on_ur10e.urdf │ │ └── shadow_hand_on_ur5.urdf ├── envs │ ├── __init__.py │ ├── base_env.py │ ├── bullet_simulation.py │ ├── floating_mia_grasp_env.py │ ├── floating_shadow_grasp_env.py │ ├── grasp_env.py │ ├── mujoco │ │ ├── base_mjenv.py │ │ ├── grasp_env.py │ │ └── init_pose.py │ ├── sampler.py │ ├── unused │ │ ├── __init__.py │ │ ├── lifting_env.py │ │ ├── stacking_env.py │ │ └── ur5_mia_reach_env.py │ ├── ur10_shadow_grasp_env.py │ └── ur5_mia_grasp_env.py ├── helpers │ ├── __init__.py │ ├── asset_manager.py │ ├── mj_mocap_control.py │ ├── mj_utils.py │ └── pybullet_helper.py ├── objects │ ├── __init__.py │ ├── bullet_object.py │ ├── conveyor.py │ └── mj_object.py └── robots │ ├── __init__.py │ ├── bullet_robot.py │ ├── bullet_utils.py │ ├── control_mixins.py │ ├── inverse_kinematics.py │ ├── mia_hand.py │ ├── mj_robot.py │ ├── sensors.py │ ├── shadow_hand.py │ ├── ur10_shadow.py │ ├── ur5_mia.py │ └── ur_kinematics.py ├── doc ├── Makefile ├── make.bat └── source │ ├── .gitignore │ ├── _static │ ├── DFKI_Logo.png │ ├── Uni_Logo.png │ ├── defgym.svg │ └── grasp_grid.gif │ ├── api.rst │ ├── conf.py │ └── index.rst ├── examples ├── floating_mia_example.py ├── floating_shadow_example.py ├── mj_grasp_example.py ├── parallel_floating_mia_example.py ├── uniform_initialisation_example.py ├── ur10_shadow_grasp_example.py └── ur5_mia_grasp_example.py ├── manifest.xml ├── pyproject.toml ├── requirements.txt └── tests ├── __init__.py ├── conftest.py ├── envs ├── mujoco │ └── test_mj_shadow_grasp.py ├── test_floating_mia_grasp_env.py ├── test_floating_shadow_grasp_env.py ├── test_parallel_envs.py ├── test_samplers.py ├── test_ur10_shadow_grasp_env.py └── test_ur5_mia_grasp_env.py ├── helpers ├── test.xml └── test_mj_utils.py ├── objects ├── mujoco │ └── test_insole_fixed.py ├── test_box.py ├── test_capsule.py ├── test_cylinder.py ├── test_insole.py ├── test_insole_on_conveyor.py ├── test_pillow.py ├── test_sphere.py └── test_urdf_object.py └── robots ├── mujoco └── test_shadow_hand.py ├── test_mia_hand_position.py ├── test_mia_hand_velocity.py ├── test_shadow_hand_position.py ├── test_shadow_hand_velocity.py ├── test_ur10_shadow_position.py ├── test_ur10_shadow_velocity.py ├── 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