├── .gitignore ├── .vscode └── settings.json ├── LICENSE.txt ├── README.md ├── docs ├── domain_randomization.md ├── framework.md ├── instanceable_assets.md ├── media │ ├── JointAPI.png │ ├── KinematicTree.png │ ├── RigidBodyAPI.png │ ├── UR10Reacher-Learning-Curve-Safety.png │ ├── UR10Reacher-Learning-Curve.png │ ├── UR10Reacher-Sim2Real.gif │ ├── UR10Reacher-Vectorized.gif │ ├── UR5-Safety-Boundaries.jpeg │ ├── UR5-Safety-Joint-Limits.jpeg │ ├── UR5-Safety-Very-Restricted.jpeg │ ├── logos │ │ ├── elsalab.png │ │ └── nvaitc.png │ └── social-preview.gif ├── release_notes.md ├── rl_examples.md ├── transfering_policies_from_isaac_gym.md └── troubleshoot.md ├── isaac_sim-2022.1.1-patch ├── linux │ └── setup_python_env.sh └── windows │ └── setup_conda_env.bat ├── omniisaacgymenvs ├── __init__.py ├── cfg │ ├── config.yaml │ ├── task │ │ ├── AllegroHand.yaml │ │ ├── Ant.yaml │ │ ├── Anymal.yaml │ │ ├── AnymalTerrain.yaml │ │ ├── BallBalance.yaml │ │ ├── Cartpole.yaml │ │ ├── Crazyflie.yaml │ │ ├── FrankaCabinet.yaml │ │ ├── Humanoid.yaml │ │ ├── Ingenuity.yaml │ │ ├── Quadcopter.yaml │ │ ├── ShadowHand.yaml │ │ ├── ShadowHandOpenAI_FF.yaml │ │ ├── ShadowHandOpenAI_LSTM.yaml │ │ └── UR10Reacher.yaml │ └── train │ │ ├── AllegroHandPPO.yaml │ │ ├── AntPPO.yaml │ │ ├── AnymalPPO.yaml │ │ ├── AnymalTerrainPPO.yaml │ │ ├── BallBalancePPO.yaml │ │ ├── CartpolePPO.yaml │ │ ├── CrazyfliePPO.yaml │ │ ├── FrankaCabinetPPO.yaml │ │ ├── HumanoidPPO.yaml │ │ ├── IngenuityPPO.yaml │ │ ├── QuadcopterPPO.yaml │ │ ├── ShadowHandOpenAI_FFPPO.yaml │ │ ├── ShadowHandOpenAI_LSTMPPO.yaml │ │ ├── ShadowHandPPO.yaml │ │ └── UR10ReacherPPO.yaml ├── demos │ ├── anymal_terrain.py │ └── ur10_reacher.py ├── envs │ ├── __init__.py │ ├── vec_env_rlgames.py │ └── vec_env_rlgames_mt.py ├── robots │ └── articulations │ │ ├── __init__.py │ │ ├── allegro_hand.py │ │ ├── ant.py │ │ ├── anymal.py │ │ ├── balance_bot.py │ │ ├── cabinet.py │ │ ├── cartpole.py │ │ ├── crazyflie.py │ │ ├── franka.py │ │ ├── humanoid.py │ │ ├── ingenuity.py │ │ ├── quadcopter.py │ │ ├── shadow_hand.py │ │ ├── ur10.py │ │ └── views │ │ ├── __init__.py │ │ ├── allegro_hand_view.py │ │ ├── anymal_view.py │ │ ├── cabinet_view.py │ │ ├── crazyflie_view.py │ │ ├── franka_view.py │ │ ├── ingenuity_view.py │ │ ├── quadcopter_view.py │ │ ├── shadow_hand_view.py │ │ └── ur10_view.py ├── scripts │ ├── dummy_ur10_policy.py │ ├── random_policy.py │ ├── rlgames_play.py │ ├── rlgames_train.py │ └── rlgames_train_mt.py ├── sim2real │ └── ur10.py ├── tasks │ ├── __init__.py │ ├── allegro_hand.py │ ├── ant.py │ ├── anymal.py │ ├── anymal_terrain.py │ ├── ball_balance.py │ ├── base │ │ └── rl_task.py │ ├── cartpole.py │ ├── crazyflie.py │ ├── franka_cabinet.py │ ├── humanoid.py │ ├── ingenuity.py │ ├── quadcopter.py │ ├── shadow_hand.py │ ├── shared │ │ ├── __init__.py │ │ ├── in_hand_manipulation.py │ │ ├── locomotion.py │ │ └── reacher.py │ ├── ur10_reacher.py │ └── utils │ │ ├── anymal_terrain_generator.py │ │ └── 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