├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── conda_activate_rrc_simulation.sh ├── demos ├── catkin │ ├── demo_object_tracker.py │ └── demo_robot_interface.py ├── demo_cameras.py ├── demo_control.py ├── demo_plain_torque_control.py ├── demo_random_policy.py └── demo_trifinger_platform.py ├── environment.yml ├── example ├── evaluate_policy.py ├── example_pushing_training_env.py ├── train_pushing_ppo.py ├── training_checkpoints │ ├── model_10000000_steps.zip │ ├── model_2000000_steps.zip │ ├── model_40000000_steps.zip │ └── model_78000000_steps.zip └── view_pushing_ppo.py ├── include └── rrc_simulation │ └── pybullet_driver.hpp ├── package.xml ├── python └── rrc_simulation │ ├── __init__.py │ ├── action.py │ ├── camera.py │ ├── collision_objects.py │ ├── finger_types_data.py │ ├── gym_wrapper │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ └── cube_env.py │ ├── finger_spaces.py │ └── utils.py │ ├── observation.py │ ├── pinocchio_utils.py │ ├── robot_properties_fingers │ ├── meshes │ │ └── stl │ │ │ ├── BL-M_Table_ASM_big.stl │ │ │ ├── BL-M_Table_ASM_small.stl │ │ │ ├── BL_Finger_Holder_SIM.stl │ │ │ ├── SIM_BL_FINGER_TIP_LINK.stl │ │ │ ├── SIM__BL-Finger_Base.stl │ │ │ ├── SIM__BL-Finger_Intermediate.stl │ │ │ ├── SIM__BL-Finger_Proximal.stl │ │ │ ├── Stage_simplified.stl │ │ │ ├── Tip_link_Modular_SIM.stl │ │ │ ├── edu │ │ │ ├── base_back.stl │ │ │ ├── base_front.stl │ │ │ ├── base_side_left.stl │ │ │ ├── base_side_right.stl │ │ │ ├── base_top.stl │ │ │ ├── frame_wall.stl │ │ │ ├── lower_link.stl │ │ │ ├── middle_link.stl │ │ │ └── upper_link.stl │ │ │ ├── finger_padding.stl │ │ │ ├── high_table_boundary.stl │ │ │ ├── pro │ │ │ ├── SIM__BL-Finger_Base.stl │ │ │ ├── SIM__BL-Finger_Center.stl │ │ │ ├── SIM__BL-Finger_Intermediate.stl │ │ │ ├── SIM__BL-Finger_Proximal.stl │ │ │ ├── SIM__BL-Finger_Tip.stl │ │ │ ├── SIM__BL-Finger_Tip_actual_tip.stl │ │ │ └── SIM__BL-Finger_Tip_without_tip.stl │ │ │ └── trifinger_table_without_border.stl │ └── urdf │ │ ├── edu │ │ ├── fingeredu.urdf │ │ ├── trifingeredu.urdf │ │ ├── trifingeredu_stage.urdf │ │ └── trifingeredu_with_stage.urdf │ │ ├── finger.urdf │ │ ├── finger_macro.urdf │ │ ├── finger_with_stage.urdf │ │ ├── pro │ │ ├── fingerpro.urdf │ │ ├── trifingerpro.urdf │ │ └── trifingerpro_with_stage.urdf │ │ ├── stage.urdf │ │ ├── trifinger.urdf │ │ ├── trifinger_stage.urdf │ │ └── trifinger_with_stage.urdf │ ├── sample.py │ ├── sim_finger.py │ ├── tasks │ ├── __init__.py │ └── move_cube.py │ ├── trifinger_platform.py │ └── visual_objects.py ├── scripts ├── evaluate_policy.py ├── profiling.py ├── pybullet_backend.py ├── replay_action_log.py ├── rrc_evaluate ├── run_evaluate_policy_all_levels.py └── run_replay_all_levels.py ├── setup.py ├── srcpy └── drivers.cpp ├── tests ├── catkin │ ├── test_pybullet_backend.cpp │ └── test_pybullet_backend.py ├── test_cube_env.py ├── test_determinism.py ├── test_loading_urdfs.py ├── test_parallel_instances.py ├── test_reset_joints.py ├── test_robot_equivalent_interface.py ├── test_sample.py ├── test_tasks_move_cube.py └── test_trifinger_platform.py └── update_robot_properties.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rr-learning/rrc_simulation/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rr-learning/rrc_simulation/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rr-learning/rrc_simulation/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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