├── CONTRIBUTING.md ├── LICENSE ├── MANIFEST.in ├── README.md ├── docs ├── real.jpeg └── sim.jpeg ├── language_table ├── __init__.py ├── common │ ├── __init__.py │ ├── clip_tokenizer.py │ └── clip_tokenizer_test.py ├── environments │ ├── __init__.py │ ├── assets │ │ ├── blocks │ │ │ ├── blue_cube.urdf │ │ │ ├── blue_moon.urdf │ │ │ ├── blue_pentagon.urdf │ │ │ ├── blue_star.urdf │ │ │ ├── cube.obj │ │ │ ├── green_cube.urdf │ │ │ ├── green_moon.urdf │ │ │ ├── green_pentagon.urdf │ │ │ ├── green_star.urdf │ │ │ ├── moon.obj │ │ │ ├── pentagon.obj │ │ │ ├── purple_pole.urdf │ │ │ ├── red_cube.urdf │ │ │ ├── red_moon.urdf │ │ │ ├── red_pentagon.urdf │ │ │ ├── red_star.urdf │ │ │ ├── star.obj │ │ │ ├── yellow_cube.urdf │ │ │ ├── yellow_moon.urdf │ │ │ ├── yellow_pentagon.urdf │ │ │ └── yellow_star.urdf │ │ ├── plane.obj │ │ ├── suction │ │ │ ├── base.obj │ │ │ ├── cylinder.urdf │ │ │ ├── cylinder_real.urdf │ │ │ ├── head.obj │ │ │ ├── mid.obj │ │ │ ├── suction-base.urdf │ │ │ ├── suction-head-long.urdf │ │ │ ├── suction-head.urdf │ │ │ └── tip.obj │ │ └── workspace_real.urdf │ ├── blocks.py │ ├── constants.py │ ├── language_table.py │ ├── language_table_test.py │ ├── oracles │ │ ├── __init__.py │ │ ├── oriented_push_oracle.py │ │ ├── plot.py │ │ ├── push_oracle_rrt_slowdown.py │ │ └── rrt_star.py │ ├── rewards │ │ ├── __init__.py │ │ ├── block1_to_corner.py │ │ ├── block2absolutelocation.py │ │ ├── block2block.py │ │ ├── block2block_relative_location.py │ │ ├── block2relativelocation.py │ │ ├── constants.py │ │ ├── instructions.py │ │ ├── instructions_test.py │ │ ├── play.py │ │ ├── point2block.py │ │ ├── reward.py │ │ ├── separate_blocks.py │ │ ├── synonyms.py │ │ └── task_info.py │ └── utils │ │ ├── __init__.py │ │ ├── pose3d.py │ │ ├── utils_pybullet.py │ │ ├── xarm_sim_robot.py │ │ └── xarm_sim_robot_test.py ├── eval │ ├── __init__.py │ ├── main.py │ └── wrappers.py ├── examples │ ├── dataset_example.py │ ├── environment_example.py │ └── 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