├── .gitignore ├── LICENSE ├── README.md ├── adaptsim ├── agent │ ├── __init__.py │ ├── adapt.py │ ├── adapt_bayesopt.py │ ├── adapt_dyn_fit.py │ ├── adapt_sysid.py │ ├── adapt_trainer.py │ ├── particle.py │ ├── particle_env.py │ └── util │ │ ├── __init__.py │ │ ├── util_adapt_acrobot.py │ │ ├── util_adapt_dp.py │ │ ├── util_adapt_dp_linearized.py │ │ ├── util_adapt_pendulum.py │ │ ├── util_adapt_push.py │ │ └── util_adapt_scoop.py ├── env │ ├── __init__.py │ ├── acrobot_env.py │ ├── double_pendulum_env.py │ ├── double_pendulum_linearized_env.py │ ├── panda_env.py │ ├── pendulum_env.py │ ├── push_env.py │ ├── push_overlap_env.py │ ├── scoop_env.py │ ├── scoop_full_env.py │ ├── util │ │ ├── subproc_vec_env.py │ │ └── vec_env.py │ └── vec_env.py ├── geometry │ ├── __init__.py │ ├── box.py │ ├── cylinder.py │ ├── ellipsoid.py │ ├── joint.py │ ├── link.py │ ├── push_task_generator.py │ └── scoop_task_generator.py ├── learner │ ├── __init__.py │ ├── branching_q.py │ ├── critic.py │ ├── dyn_fit.py │ ├── naf.py │ └── utils.py ├── model │ ├── branching_q_network.py │ ├── mdnn.py │ ├── mlp.py │ ├── naf_network.py │ └── pointnn.py ├── panda │ ├── __init__.py │ ├── diagram │ │ ├── acrobot_new_diagram.pdf │ │ ├── double_pendulum_diagram.pdf │ │ ├── double_pendulum_linearized_diagram.pdf │ │ └── scoop.pdf │ ├── differential_ik.py │ ├── discrete_filter.py │ ├── panda_station.py │ ├── rate_limiter.py │ ├── scenarios.py │ ├── spong_controller.py │ └── util.py ├── param │ ├── __init__.py │ ├── bayessim.py │ ├── param_inference.py │ ├── parameter_acrobot.py │ ├── parameter_base.py │ ├── parameter_dp.py │ ├── parameter_dp_noise.py │ ├── parameter_push.py │ └── parameter_scoop.py ├── policy │ ├── __init__.py │ ├── policy_base.py │ ├── policy_linearized.py │ ├── policy_value.py │ ├── policy_value_dyn_fit.py │ ├── replay_memory.py │ └── util │ │ ├── __init__.py │ │ ├── util_policy_dummy.py │ │ ├── util_policy_push.py │ │ └── util_policy_scoop.py └── util │ ├── __init__.py │ ├── dist │ ├── __init__.py │ ├── discrete.py │ ├── gaussian.py │ ├── mog.py │ └── uniform.py │ ├── meshcat_cpp_utils.py │ ├── numeric.py │ ├── plot.py │ ├── scheduler.py │ └── summarizers.py ├── asset ├── acrobot │ └── acrobot.sdf ├── base_geom │ ├── base.sdf │ ├── base_cylinder.sdf.xacro │ ├── base_ellipsoid.sdf.xacro │ └── base_ellipsoid_box.sdf.xacro ├── bottle │ └── bottle.sdf ├── bottle_task │ ├── v0 │ │ ├── 2000.pkl │ │ └── cfg.yaml │ ├── v1 │ │ ├── 2000.pkl │ │ └── cfg.yaml │ ├── v1_adapt │ │ ├── 2000.pkl │ │ └── cfg.yaml │ ├── v2 │ │ ├── 2000.pkl │ │ └── cfg.yaml │ ├── v2_adapt │ │ ├── 2000.pkl │ │ └── cfg.yaml │ ├── v2_demo │ │ ├── 100.pkl │ │ └── cfg.yaml │ ├── v3 │ │ ├── 100.pkl │ │ └── cfg.yaml │ ├── v4 │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v4_adapt │ │ ├── 100.pkl │ │ └── cfg.yaml │ ├── v4_adapt_1 │ │ ├── 100.pkl │ │ └── cfg.yaml │ ├── v4_adapt_2 │ │ ├── 100.pkl │ │ └── cfg.yaml │ ├── v5 │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v5_1 │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v5_eval │ │ ├── 1000.pkl │ │ └── cfg.yaml │ └── v5_eval_1 │ │ ├── 1000.pkl │ │ └── cfg.yaml ├── camera │ └── camera_box.sdf ├── double_pendulum │ └── double_pendulum.sdf ├── franka_description │ ├── LICENSE │ ├── README.md │ ├── meshes │ │ ├── foam_finger.mtl │ │ ├── foam_finger_new.obj │ │ ├── from_jon │ │ │ ├── foam_Panda_finger.STL │ │ │ └── spatula_block.STL │ │ └── visual │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link0.mtl │ │ │ ├── link0.obj │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ ├── link7.mtl │ │ │ └── link7.obj │ └── urdf │ │ ├── hand_inertia │ │ ├── panda_arm_panda_inertia.urdf │ │ ├── panda_arm_plate_inertia.urdf │ │ └── panda_arm_wsg_inertia.urdf │ │ ├── panda_arm.urdf │ │ ├── panda_arm_hand.urdf │ │ ├── panda_arm_no_collision.urdf │ │ ├── panda_arm_orig.urdf │ │ ├── panda_hand.urdf │ │ ├── panda_hand_foam.urdf │ │ └── welded_panda_hand.urdf ├── hand_plate │ └── hand_plate.sdf ├── linearized_dp │ ├── generator.py │ └── v0 │ │ ├── 1000.pkl │ │ └── cfg.yaml ├── pendulum │ └── pendulum.sdf ├── spatula_holder │ ├── Archive │ │ ├── PXL_20220713_215741177.jpg │ │ ├── PXL_20220713_215818242.jpg │ │ ├── SpatulaHolder_Low.SLDPRT │ │ ├── SpatulaHolder_Low_assm.STL │ │ ├── SpatulaHolder_Low_base.STL │ │ ├── SpatulaHolder_Low_mast.STL │ │ └── spatula_block.STL │ ├── SpatulaHolder_Low_assm.obj │ ├── spatula_holder.mtl │ ├── spatula_holder.sdf │ ├── spatula_holder_yamazaki_white_issue8157_color.png │ └── spatula_holder_yamazaki_white_issue8157_normal.png ├── spatula_long │ ├── spatula_oxo_nylon_square_issue7322_color.png │ ├── spatula_oxo_nylon_square_issue7322_low.mtl │ ├── spatula_oxo_nylon_square_issue7322_low.obj │ └── spatula_oxo_nylon_square_issue7322_low.sdf ├── table │ ├── table.sdf │ ├── table_overlap.sdf │ ├── table_top.yaml │ ├── table_top_overlap.yaml │ ├── table_top_tri.yaml │ └── table_tri.sdf ├── veggie_task │ ├── v0_halfce │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v1_box │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v1_cylinder │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v1_cylinder_ellipsoid │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v1_cylinder_ellipsoid_demo │ │ ├── 100.pkl │ │ └── cfg.yaml │ ├── v1_cylinder_or_ellipsoid │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v1_ellipsoid │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v2_cylinder │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v2_ellipsoid_round │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v2_ellipsoid_round_small │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v3_cylinder │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v3_cylinder_rigid_thin │ │ ├── 1000.pkl │ │ └── cfg.yaml │ ├── v3_cylinder_two │ │ ├── 1000.pkl │ │ └── cfg.yaml │ └── v3_ellipsoid │ │ ├── 1000.pkl │ │ └── cfg.yaml ├── veggie_template │ ├── veggie.sdf │ ├── veggie.yaml │ ├── veggie_1link.sdf │ ├── veggie_2link.sdf │ └── veggie_base.sdf.xacro ├── veggies │ ├── sample_ellipsoid.sdf │ └── sample_sphere.urdf └── wsg_50_description │ ├── BUILD.bazel │ ├── LICENSE.TXT │ ├── README.md │ ├── model.config │ ├── package.xml │ └── sdf │ ├── schunk_wsg_50.sdf │ ├── schunk_wsg_50_ball_contact.sdf │ ├── schunk_wsg_50_box.sdf │ ├── schunk_wsg_50_no_tip.sdf │ ├── schunk_wsg_50_with_tip.sdf │ └── test │ └── wsg_50_sdf_test.cc ├── cfg ├── pretrain_dp.yaml ├── pretrain_push.yaml └── pretrain_scoop.yaml ├── environment.yml ├── script ├── run_adapt.py ├── run_adapt_trainer.py └── run_task_policy.py ├── setup.py └── test ├── test_acrobot.py ├── test_double_pendulum.py ├── test_double_pendulum_linearized.py ├── test_pendulum.py ├── test_push.py ├── test_scoop.py └── test_scoop_full.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/irom-princeton/AdaptSim/HEAD/.gitignore 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