├── .github └── workflows │ ├── quality.yml │ └── test.yml ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── example.py ├── gym_aloha ├── __init__.py ├── assets │ ├── bimanual_viperx_end_effector_insertion.xml │ ├── bimanual_viperx_end_effector_transfer_cube.xml │ ├── bimanual_viperx_insertion.xml │ ├── bimanual_viperx_transfer_cube.xml │ ├── scene.xml │ ├── tabletop.stl │ ├── vx300s_10_custom_finger_left.stl │ ├── vx300s_10_custom_finger_right.stl │ ├── vx300s_10_gripper_finger.stl │ ├── vx300s_11_ar_tag.stl │ ├── vx300s_1_base.stl │ ├── vx300s_2_shoulder.stl │ ├── vx300s_3_upper_arm.stl │ ├── vx300s_4_upper_forearm.stl │ ├── vx300s_5_lower_forearm.stl │ ├── vx300s_6_wrist.stl │ ├── vx300s_7_gripper.stl │ ├── vx300s_8_gripper_prop.stl │ ├── vx300s_9_gripper_bar.stl │ ├── vx300s_dependencies.xml │ ├── vx300s_left.xml │ └── vx300s_right.xml ├── constants.py ├── env.py ├── tasks │ ├── sim.py │ └── sim_end_effector.py └── utils.py ├── poetry.lock ├── pyproject.toml └── tests └── test_env.py /.github/workflows/quality.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/.github/workflows/quality.yml -------------------------------------------------------------------------------- /.github/workflows/test.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/.github/workflows/test.yml -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/.gitignore -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/.pre-commit-config.yaml -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/README.md -------------------------------------------------------------------------------- /example.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/example.py -------------------------------------------------------------------------------- /gym_aloha/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/__init__.py -------------------------------------------------------------------------------- /gym_aloha/assets/bimanual_viperx_end_effector_insertion.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/bimanual_viperx_end_effector_insertion.xml -------------------------------------------------------------------------------- /gym_aloha/assets/bimanual_viperx_end_effector_transfer_cube.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/bimanual_viperx_end_effector_transfer_cube.xml -------------------------------------------------------------------------------- /gym_aloha/assets/bimanual_viperx_insertion.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/bimanual_viperx_insertion.xml -------------------------------------------------------------------------------- /gym_aloha/assets/bimanual_viperx_transfer_cube.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/bimanual_viperx_transfer_cube.xml -------------------------------------------------------------------------------- /gym_aloha/assets/scene.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/scene.xml -------------------------------------------------------------------------------- /gym_aloha/assets/tabletop.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/tabletop.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_10_custom_finger_left.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_10_custom_finger_left.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_10_custom_finger_right.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_10_custom_finger_right.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_10_gripper_finger.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_10_gripper_finger.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_11_ar_tag.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_11_ar_tag.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_1_base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_1_base.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_2_shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_2_shoulder.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_3_upper_arm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_3_upper_arm.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_4_upper_forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_4_upper_forearm.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_5_lower_forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_5_lower_forearm.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_6_wrist.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_6_wrist.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_7_gripper.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_7_gripper.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_8_gripper_prop.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_8_gripper_prop.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_9_gripper_bar.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_9_gripper_bar.stl -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_dependencies.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_dependencies.xml -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_left.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_left.xml -------------------------------------------------------------------------------- /gym_aloha/assets/vx300s_right.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/assets/vx300s_right.xml -------------------------------------------------------------------------------- /gym_aloha/constants.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/constants.py -------------------------------------------------------------------------------- /gym_aloha/env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/env.py -------------------------------------------------------------------------------- /gym_aloha/tasks/sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/tasks/sim.py -------------------------------------------------------------------------------- /gym_aloha/tasks/sim_end_effector.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/tasks/sim_end_effector.py -------------------------------------------------------------------------------- /gym_aloha/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/gym_aloha/utils.py -------------------------------------------------------------------------------- /poetry.lock: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/poetry.lock -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/pyproject.toml -------------------------------------------------------------------------------- /tests/test_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/huggingface/gym-aloha/HEAD/tests/test_env.py --------------------------------------------------------------------------------