├── .gitignore ├── LICENSE ├── README.md ├── apt.txt ├── assets ├── example_sim │ ├── 1.png │ ├── 10.png │ ├── 11.png │ ├── 12.png │ ├── 13.png │ ├── 14.png │ ├── 15.png │ ├── 16.png │ ├── 17.png │ ├── 18.png │ ├── 19.png │ ├── 2.png │ ├── 20.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ ├── 6.png │ ├── 7.png │ ├── 8.png │ └── 9.png └── percentiles │ ├── 0.png │ ├── 10.png │ ├── 100.png │ ├── 20.png │ ├── 50.png │ ├── 70.png │ ├── 80.png │ └── 90.png ├── data └── real │ ├── 0-0.jpg │ ├── 0-1.jpg │ ├── 0-2.jpg │ ├── 0-3.jpg │ ├── 0-4.jpg │ ├── 0-5.jpg │ ├── 0-6.jpg │ ├── 0-7.jpg │ ├── 0-8.jpg │ ├── 1-0.jpg │ ├── 1-1.jpg │ ├── 1-2.jpg │ ├── 1-3.jpg │ ├── 1-4.jpg │ ├── 1-5.jpg │ ├── 1-6.jpg │ ├── 1-7.jpg │ ├── 1-8.jpg │ ├── 2-0.jpg │ ├── 2-1.jpg │ ├── 2-2.jpg │ ├── 2-3.jpg │ ├── 2-4.jpg │ ├── 2-5.jpg │ ├── 2-6.jpg │ ├── 2-7.jpg │ ├── 2-8.jpg │ ├── 3-0.jpg │ ├── 3-1.jpg │ ├── 3-2.jpg │ ├── 3-3.jpg │ ├── 3-4.jpg │ ├── 3-5.jpg │ ├── 3-6.jpg │ ├── 3-7.jpg │ ├── 3-8.jpg │ ├── 4-0.jpg │ ├── 4-1.jpg │ ├── 4-2.jpg │ ├── 4-3.jpg │ ├── 4-4.jpg │ ├── 4-5.jpg │ ├── 4-6.jpg │ ├── 4-7.jpg │ ├── 4-8.jpg │ ├── 5-1.jpg │ ├── 5-2.jpg │ ├── 5-3.jpg │ ├── 5-4.jpg │ ├── 5-5.jpg │ ├── 5-6.jpg │ ├── 5-7.jpg │ └── metadata.yaml ├── demos ├── disco_fetch.py └── disco_kuka.py ├── domrand ├── __init__.py ├── define_flags.py ├── sim_manager.py ├── trainer.py └── utils │ ├── constants.py │ ├── data.py │ ├── general.py │ ├── image.py │ ├── modder.py │ ├── models.py │ ├── networks.py │ └── sim.py ├── requirements.txt ├── run_domrand.py ├── run_training.py ├── scripts ├── README.md ├── data_collect.py └── find_corruption.py ├── setup.py └── xmls ├── fetch ├── base_link_collision.stl ├── bellows_link_collision.stl ├── elbow_flex_link_collision.stl ├── estop_link.stl ├── forearm_roll_link_collision.stl ├── gripper_link.stl ├── head_pan_link_collision.stl ├── head_tilt_link_collision.stl ├── l_wheel_link_collision.stl ├── laser_link.stl ├── main.xml ├── r_wheel_link_collision.stl ├── shoulder_lift_link_collision.stl ├── shoulder_pan_link_collision.stl ├── torso_fixed_link.stl ├── torso_lift_link_collision.stl ├── upperarm_roll_link_collision.stl ├── wrist_flex_link_collision.stl └── wrist_roll_link_collision.stl └── kuka ├── includes ├── allegro_bodies.xml ├── allegro_preloads.xml ├── common_bodies.xml ├── common_preloads.xml ├── distract_bodies.xml ├── distract_preloads.xml ├── lights.xml ├── reflex_bodies.xml ├── reflex_preloads.xml ├── wall_bodies.xml └── wall_preloads.xml ├── lbr4_allegro.xml ├── lbr4_reflex.xml ├── meshes ├── allegro_mount.stl ├── base_link.stl ├── base_link_left.stl ├── base_link_reflex.stl ├── baxter_optoforce_mount.stl ├── baxter_push_stick_mount.stl ├── baxter_reflex_mount.stl ├── distal.stl ├── distal_pad.stl ├── finger_0.stl ├── finger_1.stl ├── finger_2.stl ├── finger_3.stl ├── finger_4.stl ├── flex_block.stl ├── kuka_mount.stl ├── link0.stl ├── link1.stl ├── link2.stl ├── link3.stl ├── link4.stl ├── link5.stl ├── link6.stl ├── link7.stl ├── link_4.0.stl ├── optoforce_push_stick_mount.stl ├── pad.stl ├── palm_allegro.stl ├── proximal.stl ├── proximal_pad.stl ├── reflex_mount.stl ├── swivel_1.stl ├── swivel_2.stl ├── thumb_0_left.stl ├── thumb_0_right.stl ├── thumb_1.stl ├── thumb_2.stl ├── thumb_3.stl └── thumb_4.stl └── urdfs ├── lbr4_allegro.urdf ├── lbr4_allegro_simple.urdf ├── lbr4_allegro_simple.xml ├── lbr4_reflex.urdf ├── lbr4_reflex_simple.urdf └── lbr4_reflex_simple.xml /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/matwilso/domrand/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/matwilso/domrand/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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