├── .gitignore ├── README.md ├── images ├── method.png └── samples.png ├── logs └── cartpole_swingup │ └── inv │ └── 0 │ └── model │ ├── actor_500000.pt │ ├── critic_500000.pt │ ├── inv_500000.pt │ └── ss_encoder_500000.pt ├── scripts ├── eval.sh └── train.sh ├── setup ├── conda.yml └── install_envs.sh └── src ├── agent ├── agent.py └── encoder.py ├── arguments.py ├── env ├── data │ ├── color_easy.pt │ ├── color_hard.pt │ ├── video0.mp4 │ ├── video1.mp4 │ ├── video2.mp4 │ ├── video3.mp4 │ ├── video4.mp4 │ ├── video5.mp4 │ ├── video6.mp4 │ ├── video7.mp4 │ ├── video8.mp4 │ └── video9.mp4 ├── dm_control │ ├── AUTHORS │ ├── CONTRIBUTING.md │ ├── LICENSE │ ├── README.md │ ├── all_domains.png │ ├── dm_control.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── dm_control │ │ ├── __init__.py │ │ ├── _render │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── base_test.py │ │ │ ├── constants.py │ │ │ ├── executor │ │ │ │ ├── __init__.py │ │ │ │ ├── render_executor.py │ │ │ │ └── render_executor_test.py │ │ │ ├── glfw_renderer.py │ │ │ ├── glfw_renderer_test.py │ │ │ └── pyopengl │ │ │ │ ├── __init__.py │ │ │ │ ├── egl_ext.py │ │ │ │ ├── egl_renderer.py │ │ │ │ ├── osmesa_renderer.py │ │ │ │ └── osmesa_renderer_test.py │ │ ├── autowrap │ │ │ ├── __init__.py │ │ │ ├── autowrap.py │ │ │ ├── binding_generator.py │ │ │ ├── c_declarations.py │ │ │ ├── codegen_util.py │ │ │ └── header_parsing.py │ │ ├── composer │ │ │ ├── __init__.py │ │ │ ├── arena.py │ │ │ ├── arena.xml │ │ │ ├── constants.py │ │ │ ├── define.py │ │ │ ├── entity.py │ │ │ ├── entity_test.py │ │ │ ├── environment.py │ │ │ ├── environment_hooks_test.py │ │ │ ├── environment_test.py │ │ │ ├── hooks_test_utils.py │ │ │ ├── initializer.py │ │ │ ├── observation │ │ │ │ ├── __init__.py │ │ │ │ ├── fake_physics.py │ │ │ │ ├── obs_buffer.py │ │ │ │ ├── obs_buffer_test.py │ │ │ │ ├── observable │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── base.py │ │ │ │ │ ├── base_test.py │ │ │ │ │ ├── mjcf.py │ │ │ │ │ └── mjcf_test.py │ │ │ │ ├── updater.py │ │ │ │ └── updater_test.py │ │ │ ├── robot.py │ │ │ ├── task.py │ │ │ └── variation │ │ │ │ ├── __init__.py │ │ │ │ ├── base.py │ │ │ │ ├── colors.py │ │ │ │ ├── deterministic.py │ │ │ │ ├── distributions.py │ │ │ │ ├── distributions_test.py │ │ │ │ ├── noises.py │ │ │ │ ├── noises_test.py │ │ │ │ ├── rotations.py │ │ │ │ ├── variation_test.py │ │ │ │ └── variation_values.py │ │ ├── entities │ │ │ ├── __init__.py │ │ │ └── props │ │ │ │ ├── __init__.py │ │ │ │ ├── position_detector.py │ │ │ │ ├── position_detector_test.py │ │ │ │ ├── primitive.py │ │ │ │ └── primitive_test.py │ │ ├── locomotion │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── arenas │ │ │ │ ├── __init__.py │ │ │ │ ├── assets │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── outdoor_natural │ │ │ │ │ │ ├── OutdoorGrassFloorD.png │ │ │ │ │ │ └── OutdoorSkybox2048.png │ │ │ │ ├── bowl.py │ │ │ │ ├── bowl_test.py │ │ │ │ ├── corridors.py │ │ │ │ ├── corridors_test.py │ │ │ │ ├── covering.py │ │ │ │ ├── covering_test.py │ │ │ │ ├── floors.py │ │ │ │ ├── floors_test.py │ │ │ │ ├── labmaze_textures.py │ │ │ │ ├── mazes.py │ │ │ │ └── mazes_test.py │ │ │ ├── examples │ │ │ │ ├── __init__.py │ │ │ │ ├── basic_cmu_2019.py │ │ │ │ ├── basic_rodent_2020.py │ │ │ │ ├── examples_test.py │ │ │ │ └── explore.py │ │ │ ├── gaps.png │ │ │ ├── props │ │ │ │ ├── __init__.py │ │ │ │ ├── target_sphere.py │ │ │ │ └── target_sphere_test.py │ │ │ ├── soccer │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── assets │ │ │ │ │ ├── boxhead │ │ │ │ │ │ ├── boxhead.xml │ │ │ │ │ │ └── digits │ │ │ │ │ │ │ ├── 00.png │ │ │ │ │ │ │ ├── 01.png │ │ │ │ │ │ │ ├── 02.png │ │ │ │ │ │ │ ├── 03.png │ │ │ │ │ │ │ ├── 04.png │ │ │ │ │ │ │ ├── 05.png │ │ │ │ │ │ │ ├── 06.png │ │ │ │ │ │ │ ├── 07.png │ │ │ │ │ │ │ ├── 08.png │ │ │ │ │ │ │ ├── 09.png │ │ │ │ │ │ │ └── 10.png │ │ │ │ │ └── soccer_ball │ │ │ │ │ │ ├── back.png │ │ │ │ │ │ ├── down.png │ │ │ │ │ │ ├── front.png │ │ │ │ │ │ ├── left.png │ │ │ │ │ │ ├── right.png │ │ │ │ │ │ └── up.png │ │ │ │ ├── boxhead.py │ │ │ │ ├── boxhead_test.py │ │ │ │ ├── explore.py │ │ │ │ ├── initializers.py │ │ │ │ ├── loader_test.py │ │ │ │ ├── observables.py │ │ │ │ ├── pitch.py │ │ │ │ ├── pitch_test.py │ │ │ │ ├── soccer.png │ │ │ │ ├── soccer_ball.py │ │ │ │ ├── soccer_ball_test.py │ │ │ │ ├── task.py │ │ │ │ ├── task_test.py │ │ │ │ └── team.py │ │ │ ├── tasks │ │ │ │ ├── __init__.py │ │ │ │ ├── corridors.py │ │ │ │ ├── corridors_test.py │ │ │ │ ├── escape.py │ │ │ │ ├── escape_test.py │ │ │ │ ├── go_to_target.py │ │ │ │ ├── go_to_target_test.py │ │ │ │ ├── random_goal_maze.py │ │ │ │ ├── random_goal_maze_test.py │ │ │ │ ├── reach.py │ │ │ │ └── reach_test.py │ │ │ ├── walkers │ │ │ │ ├── __init__.py │ │ │ │ ├── assets │ │ │ │ │ ├── humanoid_CMU.xml │ │ │ │ │ ├── rodent.xml │ │ │ │ │ └── rodent_walker_skin.skn │ │ │ │ ├── base.py │ │ │ │ ├── base_test.py │ │ │ │ ├── cmu_humanoid.py │ │ │ │ ├── cmu_humanoid_test.py │ │ │ │ ├── initializers │ │ │ │ │ └── __init__.py │ │ │ │ ├── legacy_base.py │ │ │ │ ├── rodent.py │ │ │ │ ├── rodent_test.py │ │ │ │ ├── scaled_actuators.py │ │ │ │ └── scaled_actuators_test.py │ │ │ └── walls.png │ │ ├── mjcf │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── attribute.py │ │ │ ├── attribute_test.py │ │ │ ├── base.py │ │ │ ├── code_for_debugging_test.py │ │ │ ├── constants.py │ │ │ ├── copier.py │ │ │ ├── copier_test.py │ │ │ ├── debugging.py │ │ │ ├── debugging_test.py │ │ │ ├── element.py │ │ │ ├── element_test.py │ │ │ ├── export_with_assets.py │ │ │ ├── export_with_assets_test.py │ │ │ ├── namescope.py │ │ │ ├── parser.py │ │ │ ├── physics.py │ │ │ ├── physics_test.py │ │ │ ├── schema.py │ │ │ ├── schema.xml │ │ │ ├── test_assets │ │ │ │ ├── arena.xml │ │ │ │ ├── attribute_test_schema.xml │ │ │ │ ├── included.xml │ │ │ │ ├── included_with_invalid_filenames.xml │ │ │ │ ├── lego_brick.xml │ │ │ │ ├── meshes │ │ │ │ │ ├── cube.msh │ │ │ │ │ ├── cube.stl │ │ │ │ │ └── more_meshes │ │ │ │ │ │ └── cube.stl │ │ │ │ ├── model_with_assets.xml │ │ │ │ ├── model_with_include.xml │ │ │ │ ├── model_with_invalid_filenames.xml │ │ │ │ ├── model_with_nameless_assets.xml │ │ │ │ ├── robot_arm.xml │ │ │ │ ├── test_model.xml │ │ │ │ └── textures │ │ │ │ │ └── deepmind.png │ │ │ ├── traversal_utils.py │ │ │ └── xml_validation_test.py │ │ ├── mujoco │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── engine.py │ │ │ ├── engine_test.py │ │ │ ├── index.py │ │ │ ├── index_test.py │ │ │ ├── math.py │ │ │ ├── math_test.py │ │ │ ├── render_test.py │ │ │ ├── testing │ │ │ │ ├── __init__.py │ │ │ │ ├── assets │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── arm.xml │ │ │ │ │ ├── cartpole.xml │ │ │ │ │ ├── cartpole_no_names.xml │ │ │ │ │ ├── cube.stl │ │ │ │ │ ├── deepmind.png │ │ │ │ │ ├── frames │ │ │ │ │ │ ├── cartpole_seed_0_camera_0_320x240_hardware │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── cartpole_seed_0_camera_0_320x240_software │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_hardware │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_software │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ ├── humanoid_seed_0_camera_head_track_64x64_hardware │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ │ └── humanoid_seed_0_camera_head_track_64x64_software │ │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid.xml │ │ │ │ │ ├── model_incorrect_actuator_order.xml │ │ │ │ │ ├── model_with_assets.xml │ │ │ │ │ ├── model_with_ball_joints.xml │ │ │ │ │ ├── model_with_third_order_actuators.xml │ │ │ │ │ └── sphere.xml │ │ │ │ ├── decorators.py │ │ │ │ ├── decorators_test.py │ │ │ │ ├── generate_frames.py │ │ │ │ ├── image_utils.py │ │ │ │ └── image_utils_test.py │ │ │ ├── thread_safety_test.py │ │ │ └── wrapper │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── core.py │ │ │ │ ├── core_test.py │ │ │ │ ├── mjbindings │ │ │ │ ├── __init__.py │ │ │ │ ├── constants.py │ │ │ │ ├── enums.py │ │ │ │ ├── functions.py │ │ │ │ ├── sizes.py │ │ │ │ ├── types.py │ │ │ │ └── wrappers.py │ │ │ │ ├── mjbindings_test.py │ │ │ │ ├── util.py │ │ │ │ └── util_test.py │ │ ├── rl │ │ │ ├── __init__.py │ │ │ ├── control.py │ │ │ └── control_test.py │ │ ├── suite │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── acrobot.py │ │ │ ├── acrobot.xml │ │ │ ├── ball_in_cup.py │ │ │ ├── ball_in_cup.xml │ │ │ ├── base.py │ │ │ ├── cartpole.py │ │ │ ├── cartpole.xml │ │ │ ├── cheetah.py │ │ │ ├── cheetah.xml │ │ │ ├── common │ │ │ │ ├── __init__.py │ │ │ │ ├── materials.xml │ │ │ │ ├── settings.py │ │ │ │ ├── skybox.xml │ │ │ │ └── visual.xml │ │ │ ├── demos │ │ │ │ ├── mocap_demo.py │ │ │ │ └── zeros.amc │ │ │ ├── explore.py │ │ │ ├── finger.py │ │ │ ├── finger.xml │ │ │ ├── fish.py │ │ │ ├── fish.xml │ │ │ ├── hopper.py │ │ │ ├── hopper.xml │ │ │ ├── humanoid.py │ │ │ ├── humanoid.xml │ │ │ ├── humanoid_CMU.py │ │ │ ├── humanoid_CMU.xml │ │ │ ├── lqr.py │ │ │ ├── lqr.xml │ │ │ ├── lqr_solver.py │ │ │ ├── manipulator.py │ │ │ ├── manipulator.xml │ │ │ ├── pendulum.py │ │ │ ├── pendulum.xml │ │ │ ├── point_mass.py │ │ │ ├── point_mass.xml │ │ │ ├── quadruped.py │ │ │ ├── quadruped.xml │ │ │ ├── reacher.py │ │ │ ├── reacher.xml │ │ │ ├── stacker.py │ │ │ ├── stacker.xml │ │ │ ├── swimmer.py │ │ │ ├── swimmer.xml │ │ │ ├── tests │ │ │ │ ├── domains_test.py │ │ │ │ ├── loader_test.py │ │ │ │ └── lqr_test.py │ │ │ ├── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── parse_amc.py │ │ │ │ ├── parse_amc_test.py │ │ │ │ ├── randomizers.py │ │ │ │ └── randomizers_test.py │ │ │ ├── walker.py │ │ │ ├── walker.xml │ │ │ └── wrappers │ │ │ │ ├── __init__.py │ │ │ │ ├── action_noise.py │ │ │ │ ├── action_noise_test.py │ │ │ │ ├── action_scale.py │ │ │ │ ├── action_scale_test.py │ │ │ │ ├── mujoco_profiling.py │ │ │ │ ├── mujoco_profiling_test.py │ │ │ │ ├── pixels.py │ │ │ │ └── pixels_test.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── containers.py │ │ │ ├── containers_test.py │ │ │ ├── inverse_kinematics.py │ │ │ ├── inverse_kinematics_test.py │ │ │ ├── io.py │ │ │ ├── rewards.py │ │ │ ├── rewards_test.py │ │ │ ├── xml_tools.py │ │ │ └── xml_tools_test.py │ │ └── viewer │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── application.py │ │ │ ├── application_test.py │ │ │ ├── gui │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── base_test.py │ │ │ ├── fullscreen_quad.py │ │ │ ├── glfw_gui.py │ │ │ └── glfw_gui_test.py │ │ │ ├── policy.gif │ │ │ ├── renderer.py │ │ │ ├── renderer_test.py │ │ │ ├── runtime.py │ │ │ ├── runtime_test.py │ │ │ ├── user_input.py │ │ │ ├── user_input_test.py │ │ │ ├── util.py │ │ │ ├── util_test.py │ │ │ ├── viewer.py │ │ │ ├── viewer_test.py │ │ │ ├── views.py │ │ │ └── views_test.py │ ├── requirements.txt │ └── setup.py ├── dmc2gym │ ├── LICENSE │ ├── README.md │ ├── dmc2gym.egg-info │ │ ├── PKG-INFO │ │ ├── SOURCES.txt │ │ ├── dependency_links.txt │ │ ├── requires.txt │ │ └── top_level.txt │ ├── dmc2gym │ │ ├── __init__.py │ │ └── wrappers.py │ └── setup.py └── wrappers.py ├── eval.py ├── logger.py ├── summary.py ├── train.py ├── utils.py └── video.py /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__/ 2 | *.pyc -------------------------------------------------------------------------------- /README.md: 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