├── .gitignore ├── DatasetsGeneration ├── README.md ├── door_asset_test.py ├── generate_cabinet_datasets.py ├── generate_car_datasets.py ├── generate_fridge_datasets.py ├── generate_lever_door_datasets.py ├── generate_round_door_datasets.py ├── generate_safe_datasets.py ├── generate_window_datasets.py └── scripts │ ├── generate_cabinet_datasets.sh │ ├── generate_car_datasets.sh │ ├── generate_fridge_datasets.sh │ ├── generate_lever_door_datasets.sh │ ├── generate_round_door_datasets.sh │ ├── generate_safe_datasets.sh │ └── generate_window_datasets.sh ├── README.md ├── Simulation ├── cfg │ ├── franka_open_cabinet.yaml │ ├── franka_open_car.yaml │ ├── franka_open_fridge.yaml │ ├── franka_open_lever_door.yaml │ ├── franka_open_round_door.yaml │ ├── franka_open_safe.yaml │ └── franka_open_window.yaml ├── door_asset_test.py ├── env │ ├── base_env.py │ ├── franka_slider_cabinet.py │ ├── franka_slider_car.py │ ├── franka_slider_door.py │ ├── franka_slider_fridge.py │ ├── franka_slider_safe.py │ ├── franka_slider_window.py │ └── utils │ │ ├── __pycache__ │ │ ├── config.cpython-37.pyc │ │ ├── config.cpython-38.pyc │ │ ├── config.cpython-39.pyc │ │ ├── contact_buffer.cpython-38.pyc │ │ ├── gpu_mem_track.cpython-38.pyc │ │ ├── o3dviewer.cpython-38.pyc │ │ ├── parse_task.cpython-38.pyc │ │ ├── process_marl.cpython-38.pyc │ │ ├── process_sarl.cpython-38.pyc │ │ └── time_counter.cpython-38.pyc │ │ ├── config.py │ │ ├── contact_buffer.py │ │ ├── gpu_mem_track.py │ │ ├── logger │ │ ├── plotter.py │ │ └── tools.py │ │ ├── o3dviewer.py │ │ ├── parse_task.py │ │ ├── process_marl.py │ │ ├── process_sarl.py │ │ ├── time_counter.py │ │ ├── torch_jit_utils.py │ │ └── util.py ├── isaacgymcontroller │ ├── base_controller.py │ └── gt_pose.py ├── manipulation │ ├── base_manipulation.py │ ├── open_cabinet.py │ ├── open_car.py │ ├── open_fridge.py │ ├── open_lever_door.py │ ├── open_round_door.py │ ├── open_safe.py │ ├── open_window.py │ └── transform.py ├── parse.py ├── run.py ├── scripts │ ├── franka_slider_open_cabinet.sh │ ├── franka_slider_open_car.sh │ ├── franka_slider_open_fridge.sh │ ├── franka_slider_open_lever_door.sh │ ├── franka_slider_open_lever_door_collect_data.sh │ ├── franka_slider_open_round_door.sh │ ├── franka_slider_open_safe.sh │ └── franka_slider_open_window.sh └── utils │ ├── door_asset_test.py │ └── visualize_frame.py ├── img ├── Ref1.gif ├── Safe1.gif ├── Sto1.gif ├── cabinet.gif ├── cabinet_1.gif ├── car.gif ├── car1.gif ├── car_1.gif ├── door.gif ├── door1.gif ├── door_1.gif ├── door_failure.gif ├── door_succ.gif ├── fridge.gif ├── fridge_1.gif ├── obj.png ├── open_lever_example.gif ├── parts.png ├── safe.gif ├── safe_1.gif ├── safe_failure.gif ├── safe_succ.gif ├── teasor.png ├── teasor2.pdf ├── window.gif ├── window1.gif └── window_1.gif └── multimodal ├── models ├── __pycache__ │ ├── model_actor.cpython-38.pyc │ ├── model_critic.cpython-38.pyc │ ├── model_handle_actor.cpython-38.pyc │ ├── model_score.cpython-38.pyc │ └── 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