├── README.md ├── assets ├── figs │ └── teaser.png ├── licenses │ ├── franka-LICENSE.txt │ ├── kukaiiwa-LICENSE.txt │ └── ycb-LICENSE.txt └── urdf │ ├── franka_description │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── finger.stl │ │ │ ├── hand.obj │ │ │ ├── hand.stl │ │ │ ├── link0.obj │ │ │ ├── link0.stl │ │ │ ├── link1.obj │ │ │ ├── link1.stl │ │ │ ├── link2.obj │ │ │ ├── link2.stl │ │ │ ├── link3.obj │ │ │ ├── link3.stl │ │ │ ├── link4.obj │ │ │ ├── link4.stl │ │ │ ├── link5.obj │ │ │ ├── link5.stl │ │ │ ├── link6.obj │ │ │ ├── link6.stl │ │ │ ├── link7.obj │ │ │ ├── link7.stl │ │ │ ├── stltoobj.bat │ │ │ └── stltoobj.mlx │ │ └── visual │ │ │ ├── daetoobj.bat │ │ │ ├── daetoobj.mlx │ │ │ ├── finger.dae │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.dae │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link0.dae │ │ │ ├── link0.mtl │ │ │ ├── link0.obj │ │ │ ├── link1.dae │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.dae │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.dae │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.dae │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.dae │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.dae │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ ├── link7.dae │ │ │ ├── link7.mtl │ │ │ └── link7.obj │ └── robots │ │ └── franka_panda.urdf │ ├── kuka_allegro_description │ ├── allegro.urdf │ ├── kuka.urdf │ ├── kuka_allegro.urdf │ └── meshes │ │ ├── allegro │ │ ├── base_link.STL │ │ ├── base_link.obj │ │ ├── primary_base.obj │ │ ├── primary_base.stl │ │ ├── primary_medial.obj │ │ ├── primary_medial.stl │ │ ├── primary_proximal.obj │ │ ├── primary_proximal.stl │ │ ├── thumb_base.obj │ │ ├── thumb_base.stl │ │ ├── thumb_medial.obj │ │ ├── thumb_medial.stl │ │ ├── thumb_proximal.obj │ │ └── thumb_proximal.stl │ │ ├── biotac │ │ ├── biotac_sensor.obj │ │ ├── biotac_sensor.stl │ │ ├── biotac_sensor_thumb.obj │ │ └── biotac_sensor_thumb.stl │ │ ├── convert_stl2obj.py │ │ ├── iiwa7 │ │ ├── collision │ │ │ ├── link_0.obj │ │ │ ├── link_0.stl │ │ │ ├── link_1.obj │ │ │ ├── link_1.stl │ │ │ ├── link_2.obj │ │ │ ├── link_2.stl │ │ │ ├── link_3.obj │ │ │ ├── link_3.stl │ │ │ ├── link_4.obj │ │ │ ├── link_4.stl │ │ │ ├── link_5.obj │ │ │ ├── link_5.stl │ │ │ ├── link_6.obj │ │ │ ├── link_6.stl │ │ │ ├── link_7.obj │ │ │ ├── link_7.stl │ │ │ ├── link_7_old.obj │ │ │ └── link_7_old.stl │ │ └── visual │ │ │ ├── link_0.obj │ │ │ ├── link_0.stl │ │ │ ├── link_1.obj │ │ │ ├── link_1.stl │ │ │ ├── link_2.obj │ │ │ ├── link_2.stl │ │ │ ├── link_3.obj │ │ │ ├── link_3.stl │ │ │ ├── link_4.obj │ │ │ ├── link_4.stl │ │ │ ├── link_5.obj │ │ │ ├── link_5.stl │ │ │ ├── link_6.obj │ │ │ ├── link_6.stl │ │ │ ├── link_7.obj │ │ │ ├── link_7.stl │ │ │ ├── link_7_old.obj │ │ │ └── link_7_old.stl │ │ └── mounts │ │ ├── allegro_mount.obj │ │ └── allegro_mount.stl │ ├── sektion_cabinet_model │ ├── CMakeLists.txt │ ├── config │ │ └── sektion_cabinet_model.rviz │ ├── launch │ │ ├── sektion_cabinet_joint_state_publisher.launch │ │ └── sektion_cabinet_rviz.launch │ ├── meshes │ │ ├── box.obj │ │ ├── door_left.mtl │ │ ├── door_left.obj │ │ ├── door_left.obj.mtl │ │ ├── door_left.stl │ │ ├── door_left.wrl │ │ ├── door_left_nob.obj │ │ ├── door_left_nob.obj.mtl │ │ ├── door_left_nob.stl │ │ ├── door_left_nob.wrl │ │ ├── door_right.mtl │ │ ├── door_right.obj │ │ ├── door_right.obj.mtl │ │ ├── door_right.stl │ │ ├── door_right.wrl │ │ ├── door_right_nob.obj │ │ ├── door_right_nob.obj.mtl │ │ ├── door_right_nob.stl │ │ ├── door_right_nob.wrl │ │ ├── drawer.mtl │ │ ├── drawer.obj │ │ ├── drawer.obj.mtl │ │ ├── drawer.stl │ │ ├── drawer.wrl │ │ ├── drawer_convexdecomposition.obj │ │ ├── drawer_convexdecomposition.wrl │ │ ├── drawer_convexdecomposition0.obj │ │ ├── drawer_convexdecomposition1.obj │ │ ├── drawer_convexdecomposition2.obj │ │ ├── drawer_convexdecomposition3.obj │ │ ├── drawer_convexdecomposition4.obj │ │ ├── drawer_convexdecomposition5.obj │ │ ├── drawer_convexdecomposition6.obj │ │ ├── drawer_handle.obj │ │ ├── drawer_handle.obj.mtl │ │ ├── drawer_handle.stl │ │ ├── drawer_handle.wrl │ │ ├── drawer_handle_convexdecomposition.obj │ │ ├── drawer_handle_convexdecomposition.wrl │ │ ├── sektion.mtl │ │ ├── sektion.obj │ │ ├── sektion.obj.mtl │ │ ├── sektion.stl │ │ ├── sektion.wrl │ │ ├── sektion_convexdecomposition.obj │ │ ├── sektion_convexdecomposition.wrl │ │ ├── sektion_convexdecomposition0.obj │ │ ├── sektion_convexdecomposition1.obj │ │ ├── sektion_convexdecomposition2.obj │ │ ├── sektion_convexdecomposition3.obj │ │ ├── sektion_convexdecomposition4.obj │ │ ├── sektion_convexdecomposition5.obj │ │ ├── sektion_convexdecomposition6.obj │ │ ├── table_top.obj │ │ ├── table_top.obj.mtl │ │ ├── table_top.stl │ │ ├── table_top.wrl │ │ └── wavefront │ │ │ ├── door_left.obj │ │ │ ├── door_left.wrl │ │ │ ├── door_left_nob.obj │ │ │ ├── door_left_nob.wrl │ │ │ ├── door_right.obj │ │ │ ├── door_right.wrl │ │ │ ├── door_right_nob.obj │ │ │ ├── door_right_nob.wrl │ │ │ ├── drawer.obj │ │ │ ├── drawer_handle.obj │ │ │ ├── drawer_handle.wrl │ │ │ ├── sektion.obj │ │ │ ├── sektion.wrl │ │ │ ├── table_top.obj │ │ │ └── table_top.wrl │ ├── package.xml │ └── urdf │ │ ├── sektion_cabinet.urdf │ │ └── sektion_cabinet_2.urdf │ └── ycb │ ├── 010_potted_meat_can │ ├── 010_potted_meat_can.urdf │ ├── MI_010_potted_meat_can_MI_010_potted_meat_can_D.png │ ├── collision.obj │ ├── textured.mtl │ └── textured.obj │ ├── 011_banana │ ├── 011_banana.urdf │ ├── MI_011_banana_MI_011_banana_D.png │ ├── collision.obj │ ├── textured.mtl │ └── textured.obj │ └── 025_mug │ ├── 025_mug.urdf │ ├── MI_025_mug_MI_025_mug_D.png │ ├── mug_collision.obj │ ├── mug_collision_tw.obj │ ├── mug_collision_vhacd.obj │ ├── mug_visual.obj │ ├── textured.mtl │ └── textured.obj ├── configs ├── config.yaml ├── env │ └── config.yaml ├── task │ ├── FrankaCabinet.yaml │ ├── FrankaCabinetPixels.yaml │ ├── FrankaMove.yaml │ ├── FrankaMovePixels.yaml │ ├── FrankaPick.yaml │ ├── FrankaPickObject.yaml │ ├── FrankaPickObjectPixels.yaml │ ├── FrankaPickPixels.yaml │ ├── FrankaReach.yaml │ ├── FrankaReachPixels.yaml │ ├── KukaCabinet.yaml │ ├── KukaCabinetPixels.yaml │ ├── KukaMove.yaml │ ├── KukaMovePixels.yaml │ ├── KukaPick.yaml │ ├── KukaPickObject.yaml │ ├── KukaPickObjectPixels.yaml │ ├── KukaPickPixels.yaml │ ├── KukaReach.yaml │ └── KukaReachPixels.yaml └── train │ ├── FrankaCabinet.yaml │ ├── FrankaCabinetPixels.yaml │ ├── FrankaMove.yaml │ ├── FrankaMovePixels.yaml │ ├── FrankaPick.yaml │ ├── FrankaPickObject.yaml │ ├── FrankaPickObjectPixels.yaml │ ├── FrankaPickPixels.yaml │ ├── FrankaReach.yaml │ ├── FrankaReachPixels.yaml │ ├── KukaCabinet.yaml │ ├── KukaCabinetPixels.yaml │ ├── KukaMove.yaml │ ├── KukaMovePixels.yaml │ ├── KukaPick.yaml │ ├── KukaPickObject.yaml │ ├── KukaPickObjectPixels.yaml │ ├── KukaPickPixels.yaml │ ├── KukaReach.yaml │ └── KukaReachPixels.yaml ├── mvp ├── __init__.py ├── backbones │ ├── __init__.py │ ├── model_zoo.py │ └── vit.py ├── ppo │ ├── __init__.py │ ├── actor_critic.py │ ├── ppo.py │ └── storage.py └── utils │ ├── __init__.py │ └── hydra_utils.py ├── pixmc ├── __init__.py ├── tasks │ ├── __init__.py │ ├── base │ │ ├── __init__.py │ │ ├── base_task.py │ │ └── vec_task.py │ ├── franka_cabinet.py │ ├── franka_move.py │ ├── franka_pick.py │ ├── franka_pick_object.py │ ├── franka_reach.py │ ├── kuka_cabinet.py │ ├── kuka_move.py │ ├── kuka_pick.py │ ├── kuka_pick_object.py │ └── kuka_reach.py └── utils │ ├── __init__.py │ └── torch_jit_utils.py ├── requirements.txt ├── script ├── pretrain_w_DA.sh ├── train_w_DA.sh └── trainpixel.sh ├── setup.py ├── tools ├── train.py └── train_dist.py └── utils ├── augmentation.py ├── embeddings.py ├── logger.py └── moco_load.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/gemcollector/learning-from-scratch/HEAD/README.md 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