├── .gitignore ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── __init__.py ├── algorithm ├── __init__.py ├── helper.py └── tdmpc.py ├── cfg_parse.py ├── cfgs ├── config.yaml └── suite │ ├── adroit.yaml │ ├── dmcontrol.yaml │ └── mw.yaml ├── env.py ├── environment.yml ├── logger.py ├── tasks ├── __init__.py ├── adroit.py ├── dmcontrol.py ├── metaworld.py └── mj_envs │ ├── LICENSE │ ├── README.md │ └── mj_envs │ ├── __init__.py │ ├── envs │ ├── arms │ │ ├── __init__.py │ │ ├── fetch │ │ │ └── assets │ │ │ │ ├── fetch_reach_v0.config │ │ │ │ └── fetch_reach_v0.xml │ │ ├── franka │ │ │ └── assets │ │ │ │ ├── franka_reach_v0.config │ │ │ │ ├── franka_reach_v0.xml │ │ │ │ ├── franka_ycb_v0.config │ │ │ │ └── franka_ycb_v0.xml │ │ ├── push_base_v0.py │ │ └── reach_base_v0.py │ ├── biomechanics │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── basic │ │ │ │ └── muscle_load.xml │ │ │ ├── finger │ │ │ │ ├── tendon_finger_motorAct_v0.xml │ │ │ │ ├── tendon_finger_muscleAct_v0.xml │ │ │ │ └── tendon_finger_v0.xml │ │ │ └── hand │ │ │ │ ├── 2nd_hand_Index_Thumb_keyturn.xml │ │ │ │ ├── 2nd_hand_baoding.xml │ │ │ │ ├── 2nd_hand_hold.xml │ │ │ │ ├── 2nd_hand_pen.xml │ │ │ │ ├── 2nd_hand_pose.xml │ │ │ │ ├── Geometry │ │ │ │ ├── fingers1.stl │ │ │ │ ├── fingers12.stl │ │ │ │ ├── fingers16.stl │ │ │ │ ├── fingers17.stl │ │ │ │ ├── fingers18mod61.stl │ │ │ │ ├── fingers19mod13-24.stl │ │ │ │ ├── fingers2.stl │ │ │ │ ├── fingers3.stl │ │ │ │ ├── fingers4.stl │ │ │ │ ├── fingers8.stl │ │ │ │ ├── hand_2distph.stl │ │ │ │ ├── hand_2midph.stl │ │ │ │ ├── hand_2proxph.stl │ │ │ │ ├── humerus.stl │ │ │ │ ├── movaxesfin104.stl │ │ │ │ ├── movaxesfin117.stl │ │ │ │ ├── movaxesfin133.stl │ │ │ │ ├── movaxesfin143.stl │ │ │ │ ├── movaxesfin158.stl │ │ │ │ ├── movaxesfin515.stl │ │ │ │ ├── movaxesfin623.stl │ │ │ │ ├── movaxesfin76.stl │ │ │ │ ├── movaxesfin91.stl │ │ │ │ ├── r_cap.stl │ │ │ │ ├── r_ham.stl │ │ │ │ ├── r_lun.stl │ │ │ │ ├── r_pis.stl │ │ │ │ ├── r_scaph.stl │ │ │ │ ├── r_triq.stl │ │ │ │ ├── r_trpzd.stl │ │ │ │ ├── r_trpzm.stl │ │ │ │ ├── radius.stl │ │ │ │ └── ulna.stl │ │ │ │ └── Index_Thumb_keyturn_v0.xml │ │ ├── baoding_v1.py │ │ ├── base_v0.py │ │ ├── key_turn_v0.py │ │ ├── obj_hold_v0.py │ │ ├── pen_v0.py │ │ ├── pose_v0.py │ │ └── reach_v0.py │ ├── env_base.py │ ├── fm │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── dmanus.config │ │ │ ├── dmanus.mjb │ │ │ ├── dmanus.xml │ │ │ ├── robopen.config │ │ │ └── robopen.xml │ │ └── base_v0.py │ ├── hand_manipulation_suite │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── DAPG_Adroit.xml │ │ │ ├── DAPG_assets.xml │ │ │ ├── DAPG_door.xml │ │ │ ├── DAPG_hammer.xml │ │ │ ├── DAPG_pen.xml │ │ │ ├── DAPG_relocate.xml │ │ │ └── tasks.jpg │ │ ├── backup │ │ │ ├── __init__.py │ │ │ ├── door_v0.py │ │ │ ├── hammer_v0.py │ │ │ ├── pen_v0.py │ │ │ └── relocate_v0.py │ │ ├── door_v0.py │ │ ├── hammer_v0.py │ │ ├── pen_v0.py │ │ └── relocate_v0.py │ └── relay_kitchen │ │ ├── __init__.py │ │ ├── assets │ │ ├── basic_scene.xml │ │ ├── franka_kitchen.config │ │ ├── franka_kitchen.xml │ │ ├── parse_demos.md │ │ └── parse_demos.py │ │ ├── kitchen_multitask_v1.py │ │ └── kitchen_multitask_v2.py │ ├── robot │ ├── hardware_base.py │ ├── hardware_dynamixel.py │ ├── hardware_franka.py │ ├── hardware_optitrack.py │ ├── robot.py │ └── robot_viz.py │ ├── sims │ ├── Adroit │ │ ├── .gitignore │ │ ├── Adroit_hand.xml │ │ ├── Adroit_hand_withOverlay.xml │ │ ├── LICENSE │ │ ├── README.md │ │ ├── gallery │ │ │ ├── news.JPG │ │ │ └── projects.JPG │ │ └── resources │ │ │ ├── assets.xml │ │ │ ├── chain.xml │ │ │ ├── chain1.xml │ │ │ ├── joint_position_actuation.xml │ │ │ ├── meshes │ │ │ ├── F1.stl │ │ │ ├── F2.stl │ │ │ ├── F3.stl │ │ │ ├── TH1_z.stl │ │ │ ├── TH2_z.stl │ │ │ ├── TH3_z.stl │ │ │ ├── arm_base.stl │ │ │ ├── arm_trunk.stl │ │ │ ├── arm_trunk_asmbly.stl │ │ │ ├── distal_ellipsoid.stl │ │ │ ├── elbow_flex.stl │ │ │ ├── elbow_rotate_motor.stl │ │ │ ├── elbow_rotate_muscle.stl │ │ │ ├── forearm_Cy_PlateAsmbly(muscle_cone).stl │ │ │ ├── forearm_Cy_PlateAsmbly.stl │ │ │ ├── forearm_PlateAsmbly.stl │ │ │ ├── forearm_electric.stl │ │ │ ├── forearm_electric_cvx.stl │ │ │ ├── forearm_muscle.stl │ │ │ ├── forearm_simple.stl │ │ │ ├── forearm_simple_cvx.stl │ │ │ ├── forearm_weight.stl │ │ │ ├── knuckle.stl │ │ │ ├── lfmetacarpal.stl │ │ │ ├── palm.stl │ │ │ ├── upper_arm.stl │ │ │ ├── upper_arm_asmbl_shoulder.stl │ │ │ ├── upper_arm_ass.stl │ │ │ └── wrist.stl │ │ │ ├── tendon_torque_actuation.xml │ │ │ └── textures │ │ │ ├── darkwood.png │ │ │ ├── dice.png │ │ │ ├── foil.png │ │ │ ├── marble.png │ │ │ ├── silverRaw.png │ │ │ ├── skin.png │ │ │ ├── square.png │ │ │ ├── wood.png │ │ │ └── woodb.png │ ├── YCB_sim │ │ ├── LICENSE │ │ ├── README.md │ │ ├── includes │ │ │ ├── assets_003_cracker_box.xml │ │ │ ├── assets_004_sugar_box.xml │ │ │ ├── body_003_cracker_box.xml │ │ │ ├── body_004_sugar_box.xml │ │ │ └── defaults_ycb.xml │ │ ├── meshes │ │ │ ├── 002_master_chef_can.msh │ │ │ ├── 003_cracker_box.msh │ │ │ ├── 004_sugar_box.msh │ │ │ ├── 005_tomato_soup_can.msh │ │ │ ├── 006_mustard_bottle.msh │ │ │ ├── 007_tuna_fish_can.msh │ │ │ ├── 008_pudding_box.msh │ │ │ ├── 009_gelatin_box.msh │ │ │ ├── 010_potted_meat_can.msh │ │ │ └── 035_power_drill.msh │ │ ├── textures │ │ │ ├── 002_master_chef_can.png │ │ │ ├── 003_cracker_box.png │ │ │ ├── 004_sugar_box.png │ │ │ ├── 005_tomato_soup_can.png │ │ │ ├── 006_mustard_bottle.png │ │ │ ├── 007_tuna_fish_can.png │ │ │ ├── 008_pudding_box.png │ │ │ ├── 009_gelatin_box.png │ │ │ ├── 010_potted_meat_can.png │ │ │ └── 035_power_drill.png │ │ └── ycb_objects.xml │ ├── dmanus_sim │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ │ ├── dmanus_assets.xml │ │ │ ├── dmanus_chain.xml │ │ │ ├── dmanus_wrist_assets.xml │ │ │ └── dmanus_wrist_chain.xml │ │ ├── dmanus.xml │ │ └── meshes │ │ │ ├── convex │ │ │ ├── PalmC.stl │ │ │ ├── PalmL1.stl │ │ │ ├── PalmL2.stl │ │ │ ├── PalmR.stl │ │ │ └── fingertipc.stl │ │ │ └── highres │ │ │ ├── FR121.stl │ │ │ ├── FR123.stl │ │ │ ├── PalmCH.stl │ │ │ ├── PalmL1H.stl │ │ │ ├── PalmL2H.stl │ │ │ ├── PalmRH.stl │ │ │ ├── X430.stl │ │ │ ├── covering.stl │ │ │ ├── fingertip.stl │ │ │ ├── plate.stl │ │ │ ├── skeleton.stl │ │ │ └── thumb_cover.stl │ ├── fetch_sim │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ │ ├── asset.xml │ │ │ ├── body.xml │ │ │ ├── gripper_pos_act.xml │ │ │ ├── gripper_torque_act.xml │ │ │ ├── jnt_pos_act.xml │ │ │ ├── jnt_torque_act.xml │ │ │ └── mocap_ee_act.xml │ │ ├── box │ │ │ ├── asset.xml │ │ │ └── chain.xml │ │ ├── door │ │ │ ├── asset.xml │ │ │ ├── chain0.xml │ │ │ └── chain1.xml │ │ ├── fetch_maneuver.xml │ │ ├── fetch_pole.xml │ │ ├── gallery │ │ │ ├── boxes.JPG │ │ │ ├── maneuver.JPG │ │ │ ├── objects.JPG │ │ │ └── pole.JPG │ │ ├── meshes │ │ │ ├── base_link_collision.stl │ │ │ ├── bellows_link_collision.stl │ │ │ ├── elbow_flex_link_collision.stl │ │ │ ├── estop_link.stl │ │ │ ├── forearm_roll_link_collision.stl │ │ │ ├── gripper_link.stl │ │ │ ├── head_pan_link_collision.stl │ │ │ ├── head_tilt_link_collision.stl │ │ │ ├── l_gripper_finger_link.stl │ │ │ ├── l_wheel_link.stl │ │ │ ├── l_wheel_link_collision.stl │ │ │ ├── laser_link.stl │ │ │ ├── main.xml │ │ │ ├── r_gripper_finger_link.stl │ │ │ ├── r_wheel_link_collision.stl │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ ├── torso_fixed_link.stl │ │ │ ├── torso_lift_link_collision.stl │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ ├── wrist_flex_link_collision.stl │ │ │ └── wrist_roll_link_collision.stl │ │ ├── shelf │ │ │ └── chain.xml │ │ ├── table │ │ │ ├── asset.xml │ │ │ └── chain.xml │ │ ├── teleOp_boxes.xml │ │ ├── teleOp_objects.xml │ │ └── texture │ │ │ ├── marble.png │ │ │ ├── small_placeholder_2d.png │ │ │ ├── small_placeholder_cube.png │ │ │ └── wood.png │ ├── franka_sim │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ │ ├── actuator0.xml │ │ │ ├── actuator1.xml │ │ │ ├── assets.xml │ │ │ ├── basic_scene.xml │ │ │ ├── chain0.xml │ │ │ ├── chain0_nogripper.xml │ │ │ ├── chain0_overlay.xml │ │ │ ├── chain1.xml │ │ │ ├── gripper_actuator0.xml │ │ │ ├── gripper_assets.xml │ │ │ └── teleop_actuator.xml │ │ ├── bi-franka_panda.xml │ │ ├── bi_franka.png │ │ ├── franka.png │ │ ├── franka_panda.xml │ │ ├── franka_panda_teleop.xml │ │ └── meshes │ │ │ ├── collision │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ │ │ └── visual │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ ├── furniture_sim │ │ ├── LICENSE │ │ ├── README.md │ │ ├── backwall │ │ │ ├── backwall_asset.xml │ │ │ ├── backwall_body.xml │ │ │ ├── kitchen.png │ │ │ └── textures │ │ │ │ ├── marble1.png │ │ │ │ └── metal1.png │ │ ├── bin.xml │ │ ├── bin │ │ │ ├── bin.png │ │ │ ├── bin_asset.xml │ │ │ ├── bin_body.xml │ │ │ ├── meshes │ │ │ │ └── bin.stl │ │ │ └── textures │ │ │ │ └── metal.png │ │ ├── counters.xml │ │ ├── counters │ │ │ ├── counters.png │ │ │ ├── counters_asset.xml │ │ │ ├── counters_body.xml │ │ │ ├── meshes │ │ │ │ ├── cabinetbase.stl │ │ │ │ ├── cabinetdrawer.stl │ │ │ │ ├── cabinethandle.stl │ │ │ │ ├── countertop.stl │ │ │ │ └── faucet.stl │ │ │ └── textures │ │ │ │ ├── marble1.png │ │ │ │ └── metal1.png │ │ ├── hingecabinet.xml │ │ ├── hingecabinet │ │ │ ├── hingecabinet.png │ │ │ ├── hingecabinet_asset.xml │ │ │ ├── hingecabinet_body.xml │ │ │ └── textures │ │ │ │ ├── metal1.png │ │ │ │ └── wood1.png │ │ ├── kettle.xml │ │ ├── kettle │ │ │ ├── kettle.png │ │ │ ├── kettle_asset.xml │ │ │ ├── kettle_body0.xml │ │ │ ├── kettle_body1.xml │ │ │ ├── kettle_body2.xml │ │ │ ├── kettle_body3.xml │ │ │ ├── kettle_body4.xml │ │ │ ├── kettle_body5.xml │ │ │ ├── kettle_body6.xml │ │ │ ├── kettle_body7.xml │ │ │ ├── kettles.png │ │ │ ├── meshes │ │ │ │ ├── kettle.stl │ │ │ │ └── kettlehandle.stl │ │ │ └── textures │ │ │ │ ├── metal1.png │ │ │ │ └── wood1.png │ │ ├── kitchen.xml │ │ ├── microwave.xml │ │ ├── microwave │ │ │ ├── meshes │ │ │ │ ├── micro.stl │ │ │ │ ├── microbutton.stl │ │ │ │ ├── microdoor.stl │ │ │ │ ├── microfeet.stl │ │ │ │ ├── microhandle.stl │ │ │ │ └── microwindow.stl │ │ │ ├── microwave.png │ │ │ ├── microwave_asset.xml │ │ │ ├── microwave_body.xml │ │ │ ├── microwave_body1.xml │ │ │ ├── microwave_body2.xml │ │ │ ├── microwave_body3.xml │ │ │ └── textures │ │ │ │ └── metal1.png │ │ ├── oven.xml │ │ ├── oven │ │ │ ├── meshes │ │ │ │ ├── burnerplate.stl │ │ │ │ ├── hood.stl │ │ │ │ ├── knob.stl │ │ │ │ ├── lightswitch.stl │ │ │ │ ├── lightswitchbase.stl │ │ │ │ ├── oven.stl │ │ │ │ ├── ovenhandle.stl │ │ │ │ ├── oventop.stl │ │ │ │ ├── ovenwindow.stl │ │ │ │ └── stoverim.stl │ │ │ ├── oven.png │ │ │ ├── oven_asset.xml │ │ │ ├── oven_body.xml │ │ │ └── textures │ │ │ │ ├── metal1.png │ │ │ │ └── wood1.png │ │ ├── simpleTable.xml │ │ ├── simpleTable │ │ │ ├── simpleTable.png │ │ │ ├── simpleTable_asset.xml │ │ │ ├── simpleTable_body.xml │ │ │ └── textures │ │ │ │ └── simpleTable_wood.png │ │ ├── slidecabinet.xml │ │ ├── slidecabinet │ │ │ ├── slidecabinet.png │ │ │ ├── slidecabinet_asset.xml │ │ │ ├── slidecabinet_body.xml │ │ │ └── textures │ │ │ │ └── metal1.png │ │ ├── studyTable.xml │ │ └── studyTable │ │ │ ├── meshes │ │ │ ├── studyTable_Drawer_Handle.stl │ │ │ ├── studyTable_Drawer_Wood.stl │ │ │ ├── studyTable_Main.stl │ │ │ ├── studyTable_Slide_Handle.stl │ │ │ └── studyTable_Slide_Wood.stl │ │ │ ├── studyTable.png │ │ │ ├── studyTable_asset.xml │ │ │ ├── studyTable_body.xml │ │ │ └── textures │ │ │ ├── metal.png │ │ │ └── wood.png │ ├── robohive.stl │ ├── sawyer_sim │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ │ ├── basic_scene.xml │ │ │ ├── gripper_chain.xml │ │ │ ├── gripper_pos_act.xml │ │ │ ├── sawyer.png │ │ │ ├── sawyer_chain.xml │ │ │ ├── sawyer_dependencies.xml │ │ │ ├── sawyer_joint_pos_act.xml │ │ │ ├── sawyer_joint_tor_act.xml │ │ │ └── sawyer_mocap_ee_act.xml │ │ ├── meshes │ │ │ └── sawyer │ │ │ │ ├── base.stl │ │ │ │ ├── head.stl │ │ │ │ ├── l0.stl │ │ │ │ ├── l1.stl │ │ │ │ ├── l2.stl │ │ │ │ ├── l3.stl │ │ │ │ ├── l4.stl │ │ │ │ ├── l5.stl │ │ │ │ ├── l6.stl │ │ │ │ └── pedestal.stl │ │ └── sawyer.xml │ └── scene_sim │ │ ├── LICENSE │ │ ├── README.md │ │ ├── basic_scene.xml │ │ ├── meshes │ │ ├── highwindow.stl │ │ ├── robohive.stl │ │ ├── skyline.stl │ │ └── wall.stl │ │ ├── rooftop_scene.xml │ │ ├── textures │ │ ├── cloudy.png │ │ ├── dawn.png │ │ ├── high_contrast_brick.png │ │ ├── night.png │ │ ├── stormy.png │ │ ├── white_marble_tile2.png │ │ └── windows0.png │ │ └── topfloor_scene.xml │ ├── tests │ ├── envs │ │ ├── arms │ │ │ └── test_arms.py │ │ ├── biomechanics │ │ │ └── test_biomechanics.py │ │ └── relay_kitchen │ │ │ 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