├── backend ├── __init__.py └── timestep.py ├── envs ├── fetch │ ├── __init__.py │ ├── ergodic_push.py │ ├── ergodic_pick_and_place.py │ ├── push.py │ └── pick_and_place.py ├── assets │ └── fetch │ │ └── reach.xml ├── __init__.py └── mujoco_maze │ └── agent_model.py ├── earl_benchmark ├── envs │ ├── kitchen_assets │ │ ├── adept_models │ │ │ ├── __init__.py │ │ │ ├── .gitignore │ │ │ ├── kitchen │ │ │ │ ├── meshes │ │ │ │ │ ├── faucet.stl │ │ │ │ │ ├── hood.stl │ │ │ │ │ ├── kettle.stl │ │ │ │ │ ├── knob.stl │ │ │ │ │ ├── micro.stl │ │ │ │ │ ├── oven.stl │ │ │ │ │ ├── tile.stl │ │ │ │ │ ├── wall.stl │ │ │ │ │ ├── handle2.stl │ │ │ │ │ ├── oventop.stl │ │ │ │ │ ├── stoverim.stl │ │ │ │ │ ├── burnerplate.stl │ │ │ │ │ ├── cabinetbase.stl │ │ │ │ │ ├── countertop.stl │ │ │ │ │ ├── hingedoor.stl │ │ │ │ │ ├── hingehandle.stl │ │ │ │ │ ├── lightswitch.stl │ │ │ │ │ ├── microbutton.stl │ │ │ │ │ ├── microdoor.stl │ │ │ │ │ ├── microefeet.stl │ │ │ │ │ ├── microfeet.stl │ │ │ │ │ ├── microhandle.stl │ │ │ │ │ ├── microwindow.stl │ │ │ │ │ ├── ovenhandle.stl │ │ │ │ │ ├── ovenwindow.stl │ │ │ │ │ ├── slidedoor.stl │ │ │ │ │ ├── cabinetdrawer.stl │ │ │ │ │ ├── cabinethandle.stl │ │ │ │ │ ├── hingecabinet.stl │ │ │ │ │ ├── kettlehandle.stl │ │ │ │ │ ├── slidecabinet.stl │ │ │ │ │ ├── burnerplate_mesh.stl │ │ │ │ │ └── lightswitchbase.stl │ │ │ │ ├── microwave.xml │ │ │ │ ├── oven.xml │ │ │ │ ├── kettle.xml │ │ │ │ ├── counters.xml │ │ │ │ ├── hingecabinet.xml │ │ │ │ ├── slidecabinet.xml │ │ │ │ └── assets │ │ │ │ │ ├── backwall_chain.xml │ │ │ │ │ ├── backwall_asset.xml │ │ │ │ │ ├── slidecabinet_asset.xml │ │ │ │ │ ├── hingecabinet_asset.xml │ │ │ │ │ ├── kettle_chain.xml │ │ │ │ │ └── kettle_asset.xml │ │ │ └── README.public.md │ │ ├── third_party │ │ │ └── franka │ │ │ │ ├── meshes │ │ │ │ ├── visual │ │ │ │ │ ├── finger.stl │ │ │ │ │ ├── hand.stl │ │ │ │ │ ├── link0.stl │ │ │ │ │ ├── link1.stl │ │ │ │ │ ├── link2.stl │ │ │ │ │ ├── link3.stl │ │ │ │ │ ├── link4.stl │ │ │ │ │ ├── link5.stl │ │ │ │ │ ├── link6.stl │ │ │ │ │ └── link7.stl │ │ │ │ └── collision │ │ │ │ │ ├── hand.stl │ │ │ │ │ ├── link0.stl │ │ │ │ │ ├── link1.stl │ │ │ │ │ ├── link2.stl │ │ │ │ │ ├── link3.stl │ │ │ │ │ ├── link4.stl │ │ │ │ │ ├── link5.stl │ │ │ │ │ ├── link6.stl │ │ │ │ │ ├── link7.stl │ │ │ │ │ └── finger.stl │ │ │ │ └── assets │ │ │ │ ├── basic_scene.xml │ │ │ │ ├── teleop_actuator.xml │ │ │ │ └── actuator1.xml │ │ └── adept_envs │ │ │ └── adept_envs │ │ │ ├── __init__.py │ │ │ ├── utils │ │ │ └── constants.py │ │ │ └── franka │ │ │ └── __init__.py │ ├── tabletop_assets │ │ ├── magnet.stl │ │ └── coffee_mug.stl │ ├── metaworld_assets │ │ ├── objects │ │ │ ├── meshes │ │ │ │ ├── bin │ │ │ │ │ └── bin.stl │ │ │ │ ├── dial │ │ │ │ │ ├── dial.stl │ │ │ │ │ └── dialhead.stl │ │ │ │ ├── plug │ │ │ │ │ ├── plug.stl │ │ │ │ │ ├── plug_head.stl │ │ │ │ │ ├── plug_wall.stl │ │ │ │ │ └── plug_plastic.stl │ │ │ │ ├── puck │ │ │ │ │ ├── puck.stl │ │ │ │ │ ├── goal_net.stl │ │ │ │ │ ├── goal_rim.stl │ │ │ │ │ ├── net1_col.stl │ │ │ │ │ ├── net2_col.stl │ │ │ │ │ ├── net3_col.stl │ │ │ │ │ └── net4_col.stl │ │ │ │ ├── block │ │ │ │ │ └── block.stl │ │ │ │ ├── box │ │ │ │ │ ├── boxtop.stl │ │ │ │ │ └── boxhandle.stl │ │ │ │ ├── hammer │ │ │ │ │ ├── nail.stl │ │ │ │ │ ├── hammerhead.stl │ │ │ │ │ ├── hammerblock.stl │ │ │ │ │ └── hammerhandle.stl │ │ │ │ ├── shelf │ │ │ │ │ ├── shelf.stl │ │ │ │ │ └── shelf_supports.stl │ │ │ │ ├── stick │ │ │ │ │ └── stick.stl │ │ │ │ ├── xyz_base │ │ │ │ │ ├── l0.stl │ │ │ │ │ ├── l1.stl │ │ │ │ │ ├── l2.stl │ │ │ │ │ ├── l3.stl │ │ │ │ │ ├── l4.stl │ │ │ │ │ ├── l5.stl │ │ │ │ │ ├── l6.stl │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── head.stl │ │ │ │ │ ├── pedestal.stl │ │ │ │ │ └── eGripperBase.stl │ │ │ │ ├── doorlock │ │ │ │ │ ├── door.stl │ │ │ │ │ ├── lock.stl │ │ │ │ │ ├── safe.stl │ │ │ │ │ ├── handle.stl │ │ │ │ │ ├── lock_base.stl │ │ │ │ │ ├── door_handle.stl │ │ │ │ │ └── handle_base.stl │ │ │ │ ├── drawer │ │ │ │ │ ├── drawer.stl │ │ │ │ │ ├── drawercase.stl │ │ │ │ │ └── drawerhandle.stl │ │ │ │ ├── shelfb │ │ │ │ │ ├── shelf_0.stl │ │ │ │ │ ├── shelf_1.stl │ │ │ │ │ └── shelf_frame.stl │ │ │ │ ├── table │ │ │ │ │ ├── tabletop.stl │ │ │ │ │ ├── table_hole.stl │ │ │ │ │ ├── table_hole2.stl │ │ │ │ │ └── tablebody.stl │ │ │ │ ├── basketball │ │ │ │ │ ├── hoop.stl │ │ │ │ │ ├── pole.stl │ │ │ │ │ ├── backboard.stl │ │ │ │ │ ├── basketballinner.stl │ │ │ │ │ ├── basketballouter.stl │ │ │ │ │ ├── backboardsquareinner.stl │ │ │ │ │ └── backboardsquareouter.stl │ │ │ │ ├── buttonbox │ │ │ │ │ ├── button.stl │ │ │ │ │ ├── stopbot.stl │ │ │ │ │ ├── stoptop.stl │ │ │ │ │ ├── buttonring.stl │ │ │ │ │ ├── stopbutton.stl │ │ │ │ │ ├── stopbuttonrim.stl │ │ │ │ │ └── stopbuttonrod.stl │ │ │ │ ├── coffeemachine │ │ │ │ │ ├── cup.stl │ │ │ │ │ ├── mug.stl │ │ │ │ │ ├── body1.stl │ │ │ │ │ ├── body2.stl │ │ │ │ │ ├── spout.stl │ │ │ │ │ ├── button.stl │ │ │ │ │ ├── handle.stl │ │ │ │ │ ├── bodypiece1.stl │ │ │ │ │ ├── bodypiece2.stl │ │ │ │ │ ├── bodypiece3.stl │ │ │ │ │ ├── buttonring.stl │ │ │ │ │ └── spoutconnect.stl │ │ │ │ ├── faucet │ │ │ │ │ ├── faucetbase.stl │ │ │ │ │ ├── faucethead.stl │ │ │ │ │ └── faucethandle1.stl │ │ │ │ ├── laptop │ │ │ │ │ ├── laptop_top.stl │ │ │ │ │ ├── laptop_base.stl │ │ │ │ │ ├── laptop_hinge.stl │ │ │ │ │ ├── laptop_keys.stl │ │ │ │ │ └── laptop_screen.stl │ │ │ │ ├── lever │ │ │ │ │ ├── lever_axis.stl │ │ │ │ │ ├── lever_base.stl │ │ │ │ │ ├── lever_rod.stl │ │ │ │ │ ├── lever_handle.stl │ │ │ │ │ └── lever_rodbase.stl │ │ │ │ ├── soccer │ │ │ │ │ ├── goal_col1.stl │ │ │ │ │ ├── goal_col2.stl │ │ │ │ │ ├── goal_col3.stl │ │ │ │ │ ├── goal_col4.stl │ │ │ │ │ ├── soccer_net.stl │ │ │ │ │ ├── soccer_black.stl │ │ │ │ │ ├── soccer_frame.stl │ │ │ │ │ └── soccer_white.stl │ │ │ │ ├── thermos │ │ │ │ │ ├── therm_cap.stl │ │ │ │ │ ├── therm_base.stl │ │ │ │ │ ├── therm_body.stl │ │ │ │ │ ├── therm_trim.stl │ │ │ │ │ └── therm_handle.stl │ │ │ │ ├── golf_club │ │ │ │ │ ├── club_head.stl │ │ │ │ │ ├── club_tape.stl │ │ │ │ │ └── club_handle.stl │ │ │ │ ├── window │ │ │ │ │ ├── window_base.stl │ │ │ │ │ ├── window_frame.stl │ │ │ │ │ ├── window_h_base.stl │ │ │ │ │ ├── window_h_frame.stl │ │ │ │ │ ├── windowa_frame.stl │ │ │ │ │ ├── windowa_glass.stl │ │ │ │ │ ├── windowa_h_frame.stl │ │ │ │ │ ├── windowa_h_glass.stl │ │ │ │ │ ├── windowb_frame.stl │ │ │ │ │ ├── windowb_glass.stl │ │ │ │ │ ├── windowb_h_frame.stl │ │ │ │ │ └── windowb_h_glass.stl │ │ │ │ ├── peg_block │ │ │ │ │ ├── block_inner.stl │ │ │ │ │ └── block_outer.stl │ │ │ │ ├── assembly_peg │ │ │ │ │ ├── assembly_peg_rod.stl │ │ │ │ │ ├── assembly_peg_handle.stl │ │ │ │ │ └── assembly_peg_ring.stl │ │ │ │ └── handle_press │ │ │ │ │ ├── handle_press_base.stl │ │ │ │ │ ├── handle_press_col1.stl │ │ │ │ │ ├── handle_press_col2.stl │ │ │ │ │ ├── handle_press_col3.stl │ │ │ │ │ ├── handle_press_grip.stl │ │ │ │ │ ├── handle_press_lever.stl │ │ │ │ │ └── handle_press_trim.stl │ │ │ ├── table.xml │ │ │ ├── xyz_base.xml │ │ │ ├── table_hole.xml │ │ │ ├── binA.xml │ │ │ ├── binB.xml │ │ │ ├── objA.xml │ │ │ ├── wall.xml │ │ │ ├── drawer.xml │ │ │ ├── basketball.xml │ │ │ ├── hammerblock.xml │ │ │ ├── soccer_goal.xml │ │ │ ├── basketballhoop.xml │ │ │ ├── assets │ │ │ │ ├── objA.xml │ │ │ │ ├── block.xml │ │ │ │ ├── table.xml │ │ │ │ ├── table_hole.xml │ │ │ │ ├── wall.xml │ │ │ │ ├── block_cyl.xml │ │ │ │ ├── soccer_ball.xml │ │ │ │ ├── stick.xml │ │ │ │ ├── basketball.xml │ │ │ │ ├── puck.xml │ │ │ │ ├── soccer_goal.xml │ │ │ │ ├── mug.xml │ │ │ │ ├── dial.xml │ │ │ │ ├── binA.xml │ │ │ │ ├── binB.xml │ │ │ │ ├── box.xml │ │ │ │ ├── peg_insert.xml │ │ │ │ ├── plug_wall.xml │ │ │ │ ├── club.xml │ │ │ │ ├── shelf.xml │ │ │ │ ├── laptop.xml │ │ │ │ ├── hammerblock.xml │ │ │ │ ├── stick_dependencies.xml │ │ │ │ ├── wall_dependencies.xml │ │ │ │ ├── shelfb.xml │ │ │ │ ├── peg_insert_dependencies.xml │ │ │ │ ├── boxtop.xml │ │ │ │ ├── block_dependencies.xml │ │ │ │ ├── puck_goal.xml │ │ │ │ ├── table_dependencies.xml │ │ │ │ ├── thermos.xml │ │ │ │ ├── dial_dependencies.xml │ │ │ │ ├── peg_block.xml │ │ │ │ ├── hammer.xml │ │ │ │ ├── peg_block_dependencies.xml │ │ │ │ ├── club_dependencies.xml │ │ │ │ ├── faucet.xml │ │ │ │ ├── bin_dependencies.xml │ │ │ │ ├── shelfb_dependencies.xml │ │ │ │ ├── lever.xml │ │ │ │ ├── drawer_dependencies.xml │ │ │ │ ├── plug.xml │ │ │ │ ├── handle_press.xml │ │ │ │ ├── buttonbox.xml │ │ │ │ └── shelf_dependencies.xml │ │ │ ├── coffeemachine.xml │ │ │ ├── dial.xml │ │ │ ├── lever.xml │ │ │ ├── puck.xml │ │ │ ├── thermos.xml │ │ │ ├── faucet.xml │ │ │ ├── laptop.xml │ │ │ ├── shelf.xml │ │ │ ├── shelfb.xml │ │ │ ├── window.xml │ │ │ ├── buttonbox.xml │ │ │ ├── doorlockA.xml │ │ │ ├── doorlockB.xml │ │ │ ├── plug_wall.xml │ │ │ ├── puck_goal.xml │ │ │ ├── plug.xml │ │ │ ├── window_horiz.xml │ │ │ ├── block.xml │ │ │ ├── club.xml │ │ │ ├── handle_press.xml │ │ │ ├── sphere.xml │ │ │ ├── stick.xml │ │ │ ├── hammer.xml │ │ │ ├── soccer_ball.xml │ │ │ ├── block_cyl.xml │ │ │ ├── mug.xml │ │ │ ├── peg_block.xml │ │ │ ├── peg_insert.xml │ │ │ ├── assembly_peg.xml │ │ │ └── box.xml │ │ ├── textures │ │ │ └── light_wood_v3.jpeg │ │ └── sawyer_xyz │ │ │ ├── sawyer_table_with_hole_no_puck.xml │ │ │ ├── sawyer_laptop.xml │ │ │ ├── sawyer_window.xml │ │ │ ├── sawyer_drawer.xml │ │ │ ├── sawyer_window_horizontal.xml │ │ │ ├── sawyer_door_lock.xml │ │ │ ├── sawyer_basketball.xml │ │ │ ├── sawyer_lever_pull.xml │ │ │ ├── sawyer_dial.xml │ │ │ ├── sawyer_button_press.xml │ │ │ ├── sawyer_handle_press.xml │ │ │ ├── sawyer_button_press_topdown.xml │ │ │ ├── sawyer_handle_press_sideways.xml │ │ │ ├── sawyer_plate_slide.xml │ │ │ ├── sawyer_box.xml │ │ │ ├── sawyer_sweep_v2.xml │ │ │ ├── sawyer_plate_slide_sideway.xml │ │ │ ├── sawyer_soccer.xml │ │ │ ├── sawyer_coffee.xml │ │ │ ├── sawyer_shelf_removing.xml │ │ │ ├── sawyer_pick_and_place.xml │ │ │ ├── sawyer_stick_obj.xml │ │ │ ├── sawyer_bin_picking.xml │ │ │ ├── sawyer_sweep_tool.xml │ │ │ ├── sawyer_hammer.xml │ │ │ ├── sawyer_button_press_wall.xml │ │ │ ├── sawyer_button_press_topdown_wall.xml │ │ │ ├── sawyer_reach_push_pick_and_place.xml │ │ │ ├── sawyer_table_with_hole.xml │ │ │ ├── sawyer_push_back_v2.xml │ │ │ ├── sawyer_reach_v2.xml │ │ │ ├── sawyer_shelf_placing.xml │ │ │ ├── sawyer_assembly_peg.xml │ │ │ ├── sawyer_peg_unplug_side.xml │ │ │ ├── sawyer_reach_push_pick_and_place_wall.xml │ │ │ ├── sawyer_pick_place_v2.xml │ │ │ ├── sawyer_push_v2.xml │ │ │ └── sawyer_reach_wall_v2.xml │ └── minitaur_assets │ │ ├── original.urdf │ │ └── wall_tile.urdf ├── .gitignore ├── demonstrations │ ├── sawyer_door │ │ ├── forward │ │ │ └── demo_data.pkl │ │ └── reverse │ │ │ └── demo_data.pkl │ ├── sawyer_peg │ │ ├── forward │ │ │ └── demo_data.pkl │ │ └── reverse │ │ │ └── demo_data.pkl │ └── tabletop_manipulation │ │ ├── forward │ │ └── demo_data.pkl │ │ └── reverse │ │ └── demo_data.pkl ├── env.yml └── wrappers │ 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/earl_benchmark/envs/metaworld_assets/objects/table_hole.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/binA.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/binB.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/objA.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/wall.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/drawer.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__/ 2 | .ipynb_checkpoints/ 3 | exp_local 4 | rlkit/ 5 | hydra_test.* 6 | results/ 7 | plot/ 8 | config/paths/config_path.yaml 9 | envs/assets/stls 10 | envs/assets/textures 11 | plot.py 12 | test.py 13 | misc/ 14 | figure/ 15 | .gitmodules 16 | .vscode/ 17 | cost_flow.so 18 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/basketball.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/hammerblock.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/soccer_goal.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/README.public.md: -------------------------------------------------------------------------------- 1 | # D'Suite Scenes 2 | 3 | This repository is based on a collection of [MuJoCo](http://www.mujoco.org/) simulation 4 | scenes and common assets for D'Suite environments. Based on code in the ROBEL suite 5 | https://github.com/google-research/robel 6 | 7 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/basketballhoop.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/objA.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/coffeemachine.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /config/paths/template.yaml: -------------------------------------------------------------------------------- 1 | # NOTE : 2 | # You should make config/paths/config_path.yaml as following format 3 | # The paths in this file should be different among the machines. 4 | # It should not be uploaded in github remote. 5 | default_save_path_prefix : your path for saving the logging 6 | workspace_path : this repository's path -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/block.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/table.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/table_hole.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/wall.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/block_cyl.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/dial.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/lever.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/puck.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/thermos.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/faucet.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/laptop.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/shelf.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/shelfb.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/window.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/buttonbox.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/doorlockA.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/doorlockB.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/plug_wall.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/puck_goal.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/soccer_ball.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/stick.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/plug.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/window_horiz.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/block.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/club.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/handle_press.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/sphere.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/stick.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/hammer.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/soccer_ball.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/block_cyl.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/mug.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/peg_block.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/basketball.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/peg_insert.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assembly_peg.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/microwave.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /earl_benchmark/env.yml: -------------------------------------------------------------------------------- 1 | name: earl 2 | channels: 3 | - defaults 4 | - conda-forge 5 | dependencies: 6 | - python=3.7.9 7 | - pip>=21.0 8 | - conda>=4.6.7 9 | - pip: 10 | - git+https://github.com/rlworkgroup/metaworld.git@master#egg=metaworld 11 | - mujoco-py==2.0.2.9 12 | - numpy==1.21.5 13 | - matplotlib 14 | - scipy 15 | - pybullet==3.2.0 16 | - termcolor 17 | variables: 18 | MUJOCO_GL: osmesa 19 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/oven.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/kettle.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/counters.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/hingecabinet.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/slidecabinet.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/box.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/puck.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/soccer_goal.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/mug.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /hgg/gcc_utils.py: -------------------------------------------------------------------------------- 1 | import os 2 | import ctypes 3 | import numpy as np 4 | 5 | def c_double(value): 6 | return ctypes.c_double(value) 7 | def c_int(value): 8 | return ctypes.c_int(value) 9 | 10 | def gcc_complie(c_path, so_path=None): 11 | assert c_path[-2:]=='.c' 12 | if so_path is None: 13 | so_path = c_path[:-2]+'.so' 14 | else: 15 | assert so_path[-3:]=='.so' 16 | os.system('gcc -o '+so_path+' -shared -fPIC '+c_path+' -O2') 17 | return so_path 18 | 19 | def gcc_load_lib(lib_path): 20 | if lib_path[-2:]=='.c': 21 | lib_path = gcc_complie(lib_path) 22 | else: 23 | assert so_path[-3:]=='.so' 24 | return ctypes.cdll.LoadLibrary(lib_path) -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/dial.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/binA.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/binB.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/box.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/peg_insert.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_envs/adept_envs/__init__.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # 3 | # Copyright 2020 Google LLC 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | import adept_envs.franka 18 | 19 | from adept_envs.utils.configurable import global_config 20 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_table_with_hole_no_puck.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /earl_benchmark/envs/minitaur_assets/original.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /earl_benchmark/envs/minitaur_assets/wall_tile.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_laptop.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/plug_wall.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/third_party/franka/assets/basic_scene.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_window.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_envs/adept_envs/utils/constants.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # 3 | # Copyright 2020 Google LLC 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | import os 18 | 19 | ENVS_ROOT_PATH = os.path.abspath(os.path.join( 20 | os.path.dirname(os.path.abspath(__file__)), 21 | "../../")) 22 | 23 | MODELS_PATH = os.path.abspath(os.path.join(ENVS_ROOT_PATH, "../adept_models/")) 24 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_drawer.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/club.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_window_horizontal.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/shelf.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_door_lock.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/laptop.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_basketball.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_lever_pull.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/hammerblock.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_dial.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | --> 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_button_press.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_handle_press.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_button_press_topdown.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /envs/assets/fetch/reach.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/stick_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_handle_press_sideways.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/wall_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/assets/backwall_chain.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/shelfb.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_plate_slide.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_box.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/assets/backwall_asset.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_sweep_v2.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 18 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_plate_slide_sideway.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /backend/timestep.py: -------------------------------------------------------------------------------- 1 | import enum 2 | from typing import Any, NamedTuple 3 | 4 | 5 | class StepType(enum.IntEnum): 6 | """Defines the status of a `TimeStep` within a sequence.""" 7 | 8 | # Denotes the first `TimeStep` in a sequence. 9 | FIRST = 0 10 | # Denotes any `TimeStep` in a sequence that is not FIRST or LAST. 11 | MID = 1 12 | # Denotes the last `TimeStep` in a sequence. 13 | LAST = 2 14 | 15 | def first(self) -> bool: 16 | return self is StepType.FIRST 17 | 18 | def mid(self) -> bool: 19 | return self is StepType.MID 20 | 21 | def last(self) -> bool: 22 | return self is StepType.LAST 23 | 24 | 25 | class ExtendedTimeStep(NamedTuple): 26 | step_type: Any 27 | reward: Any 28 | discount: Any 29 | observation: Any 30 | action: Any 31 | 32 | def first(self): 33 | return self.step_type == StepType.FIRST 34 | 35 | def mid(self): 36 | return self.step_type == StepType.MID 37 | 38 | def last(self): 39 | return self.step_type == StepType.LAST 40 | 41 | def __getitem__(self, attr): 42 | return getattr(self, attr) 43 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_soccer.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_coffee.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_shelf_removing.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_pick_and_place.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 18 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/assets/slidecabinet_asset.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/peg_insert_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_stick_obj.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_bin_picking.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /envs/__init__.py: -------------------------------------------------------------------------------- 1 | import gym, gym_robotics 2 | import os 3 | gym_base = os.path.dirname(gym_robotics.__file__) 4 | base = os.path.dirname(os.path.abspath(__file__)) 5 | if not os.path.isdir(os.path.join(base, 'assets/stls')): 6 | try: 7 | os.remove(os.path.join(base, 'assets/stls')) 8 | except FileNotFoundError: 9 | pass 10 | os.symlink(os.path.join(gym_base, 'envs/assets/stls'), os.path.join(base, 'assets/stls')) 11 | if not os.path.isdir(os.path.join(base, 'assets/textures')): 12 | try: 13 | os.remove(os.path.join(base, 'assets/textures')) 14 | except FileNotFoundError: 15 | pass 16 | os.symlink(os.path.join(gym_base, 'envs/assets/textures'), os.path.join(base, 'assets/textures')) 17 | 18 | from .fetch.ergodic_pick_and_place import FetchPickAndPlaceErgodicEnv 19 | from .fetch.ergodic_push import FetchPushErgodicEnv 20 | from .fetch.ergodic_reach import FetchReachErgodicEnv 21 | 22 | from .fetch.ergodic_push2 import FetchPushErgodicEnv2 23 | from .fetch.ergodic_pick_and_place2 import FetchPickAndPlaceErgodicEnv2 24 | 25 | from .mujoco_maze.point_umaze_goalenv import PointUMazeGoalEnv 26 | from .mujoco_maze.ant_umaze_goalenv import AntUMazeGoalEnv -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_sweep_tool.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_hammer.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/boxtop.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_button_press_wall.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_button_press_topdown_wall.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/block_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /envs/mujoco_maze/agent_model.py: -------------------------------------------------------------------------------- 1 | """Common APIs for defining mujoco robot. 2 | """ 3 | from abc import ABC, abstractmethod 4 | from typing import Optional 5 | 6 | import numpy as np 7 | from gym.envs.mujoco.mujoco_env import MujocoEnv 8 | from gym.utils import EzPickle 9 | 10 | 11 | class AgentModel(ABC, MujocoEnv, EzPickle): 12 | FILE: str 13 | MANUAL_COLLISION: bool 14 | ORI_IND: Optional[int] = None 15 | RADIUS: Optional[float] = None 16 | OBJBALL_TYPE: Optional[str] = None 17 | 18 | def __init__(self, file_path: str, frame_skip: int) -> None: 19 | MujocoEnv.__init__(self, file_path, frame_skip) 20 | EzPickle.__init__(self) 21 | 22 | def close(self): 23 | if self.viewer is not None and hasattr(self.viewer, "window"): 24 | import glfw 25 | 26 | glfw.destroy_window(self.viewer.window) 27 | super().close() 28 | 29 | @abstractmethod 30 | def _get_obs(self) -> np.ndarray: 31 | """Returns the observation from the model.""" 32 | pass 33 | 34 | def get_xy(self) -> np.ndarray: 35 | """Returns the coordinate of the agent.""" 36 | pass 37 | 38 | def set_xy(self, xy: np.ndarray) -> None: 39 | """Set the coordinate of the agent.""" 40 | pass 41 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/puck_goal.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_reach_push_pick_and_place.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 20 | 21 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_table_with_hole.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_envs/adept_envs/franka/__init__.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # 3 | # Copyright 2020 Google LLC 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | from gym.envs.registration import register 18 | 19 | # Relax the robot 20 | register( 21 | id='kitchen_relax-v1', 22 | entry_point='adept_envs.franka.kitchen_multitask_v0:KitchenTaskRelaxV1', 23 | max_episode_steps=280, 24 | ) 25 | 26 | # Relax the robot 27 | register( 28 | id='kitchen_slider-v0', 29 | entry_point='adept_envs.franka.kitchen_slider:KitchenSliderV0', 30 | max_episode_steps=280, 31 | ) 32 | 33 | # Relax the robot 34 | register( 35 | id='kitchen_microwave-v0', 36 | entry_point='adept_envs.franka.kitchen_microwave:KitchenMicrowaveV0', 37 | max_episode_steps=280, 38 | ) -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_push_back_v2.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 16 | 17 | 18 | 19 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_reach_v2.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 16 | 17 | 18 | 19 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_shelf_placing.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/third_party/franka/assets/teleop_actuator.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/table_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_assembly_peg.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /envs/fetch/ergodic_push.py: -------------------------------------------------------------------------------- 1 | import os 2 | from gym import utils 3 | from .fetch_env import FetchEnv 4 | 5 | 6 | # Ensure we get the path separator correct on windows 7 | MODEL_XML_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/fetch/ergodic_push.xml") 8 | 9 | 10 | class FetchPushErgodicEnv(FetchEnv, utils.EzPickle): 11 | def __init__(self, reward_type="sparse", full_state_goal=False): 12 | initial_qpos = { 13 | "robot0:slide0": 0.405, 14 | "robot0:slide1": 0.48, 15 | "robot0:slide2": 0.0, 16 | "object0:joint_px": 1.25, 17 | "object0:joint_py": 0.53, 18 | "object0:joint_pz": 0.4, 19 | "object0:joint_rxyz": [1.0, 0.0, 0.0, 0.0], 20 | } 21 | FetchEnv.__init__( 22 | self, 23 | MODEL_XML_PATH, 24 | has_object=True, 25 | block_gripper=True, 26 | n_substeps=20, 27 | gripper_extra_height=0.0, 28 | target_in_the_air=False, 29 | target_offset=0.0, 30 | obj_range=0.15, 31 | target_range=0.15, 32 | distance_threshold=0.05, 33 | initial_qpos=initial_qpos, 34 | reward_type=reward_type, 35 | full_state_goal=full_state_goal, 36 | 37 | ) 38 | utils.EzPickle.__init__(self, reward_type=reward_type) 39 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/thermos.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /envs/fetch/ergodic_pick_and_place.py: -------------------------------------------------------------------------------- 1 | import os 2 | from gym import utils 3 | from .fetch_env import FetchEnv 4 | 5 | 6 | # Ensure we get the path separator correct on windows 7 | MODEL_XML_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/fetch/ergodic_pick_and_place.xml") 8 | 9 | 10 | class FetchPickAndPlaceErgodicEnv(FetchEnv, utils.EzPickle): 11 | def __init__(self, reward_type="sparse", full_state_goal=False): 12 | initial_qpos = { 13 | "robot0:slide0": 0.405, 14 | "robot0:slide1": 0.48, 15 | "robot0:slide2": 0.0, 16 | "object0:joint_px": 1.25, 17 | "object0:joint_py": 0.53, 18 | "object0:joint_pz": 0.4, 19 | "object0:joint_rxyz": [1.0, 0.0, 0.0, 0.0], 20 | } 21 | FetchEnv.__init__( 22 | self, 23 | MODEL_XML_PATH, 24 | has_object=True, 25 | block_gripper=False, 26 | n_substeps=20, 27 | gripper_extra_height=0.2, 28 | target_in_the_air=True, 29 | target_offset=0.0, 30 | obj_range=0.15, 31 | target_range=0.15, 32 | distance_threshold=0.05, 33 | initial_qpos=initial_qpos, 34 | reward_type=reward_type, 35 | full_state_goal=full_state_goal, 36 | ) 37 | utils.EzPickle.__init__(self, reward_type=reward_type) 38 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/assets/hingecabinet_asset.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/dial_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /envs/fetch/push.py: -------------------------------------------------------------------------------- 1 | import os 2 | from gym import utils 3 | from .fetch_env import FetchEnv 4 | 5 | 6 | # Ensure we get the path separator correct on windows 7 | MODEL_XML_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/fetch/ergodic_push.xml") 8 | 9 | 10 | class FetchPushEnv(FetchEnv, utils.EzPickle): 11 | def __init__(self, reward_type="sparse", full_state_goal=False, fix_initial_object=False): 12 | initial_qpos = { 13 | "robot0:slide0": 0.405, 14 | "robot0:slide1": 0.48, 15 | "robot0:slide2": 0.0, 16 | "object0:joint_px": 1.25, 17 | "object0:joint_py": 0.53, 18 | "object0:joint_pz": 0.4, 19 | "object0:joint_rxyz": [1.0, 0.0, 0.0, 0.0], 20 | } 21 | FetchEnv.__init__( 22 | self, 23 | MODEL_XML_PATH, 24 | has_object=True, 25 | block_gripper=True, 26 | n_substeps=20, 27 | gripper_extra_height=0.0, 28 | target_in_the_air=False, 29 | target_offset=0.0, 30 | obj_range=0.15, 31 | target_range=0.15, 32 | distance_threshold=0.05, 33 | initial_qpos=initial_qpos, 34 | reward_type=reward_type, 35 | full_state_goal=full_state_goal, 36 | fix_initial_object=fix_initial_object, 37 | ) 38 | utils.EzPickle.__init__(self, reward_type=reward_type) 39 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/peg_block.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /envs/fetch/pick_and_place.py: -------------------------------------------------------------------------------- 1 | import os 2 | from gym import utils 3 | from .fetch_env import FetchEnv 4 | 5 | 6 | # Ensure we get the path separator correct on windows 7 | MODEL_XML_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/fetch/ergodic_pick_and_place.xml") 8 | 9 | 10 | class FetchPickAndPlaceEnv(FetchEnv, utils.EzPickle): 11 | def __init__(self, reward_type="sparse", full_state_goal=False, fix_initial_object=False): 12 | initial_qpos = { 13 | "robot0:slide0": 0.405, 14 | "robot0:slide1": 0.48, 15 | "robot0:slide2": 0.0, 16 | "object0:joint_px": 1.25, 17 | "object0:joint_py": 0.53, 18 | "object0:joint_pz": 0.4, 19 | "object0:joint_rxyz": [1.0, 0.0, 0.0, 0.0], 20 | } 21 | FetchEnv.__init__( 22 | self, 23 | MODEL_XML_PATH, 24 | has_object=True, 25 | block_gripper=False, 26 | n_substeps=20, 27 | gripper_extra_height=0.2, 28 | target_in_the_air=True, 29 | target_offset=0.0, 30 | obj_range=0.15, 31 | target_range=0.15, 32 | distance_threshold=0.05, 33 | initial_qpos=initial_qpos, 34 | reward_type=reward_type, 35 | full_state_goal=full_state_goal, 36 | fix_initial_object=fix_initial_object, 37 | ) 38 | utils.EzPickle.__init__(self, reward_type=reward_type) 39 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/hammer.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/assets/kettle_chain.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /earl_benchmark/wrappers/persistent_state_wrapper.py: -------------------------------------------------------------------------------- 1 | """Gym wrapper to return an environment for persistent state control. 2 | 3 | TODO: we want to keep track of the number of resets, especially when the environment underneath can return done=True (irreversible set of environments) 4 | """ 5 | 6 | from gym import Wrapper 7 | 8 | class PersistentStateWrapper(Wrapper): 9 | 10 | def __init__(self, env, episode_horizon): 11 | super(PersistentStateWrapper, self).__init__(env) 12 | self._episode_horizon = episode_horizon 13 | self._total_step_count = 0 14 | self._steps_since_reset = 0 15 | self._num_interventions = 0 16 | 17 | def reset(self): 18 | self._num_interventions += 1 19 | self._steps_since_reset = 0 20 | return self.env.reset() 21 | 22 | def step(self, action): 23 | obs, reward, done, info = self.env.step(action) 24 | 25 | self._total_step_count += 1 26 | self._steps_since_reset += 1 27 | 28 | if not done and self._steps_since_reset >= self._episode_horizon: 29 | done = True 30 | 31 | return obs, reward, done, info 32 | 33 | def is_successful(self, obs=None, proprioceptive_only=False): 34 | if hasattr(self.env, 'is_successful'): 35 | return self.env.is_successful(obs, proprioceptive_only=proprioceptive_only) 36 | else: 37 | return False 38 | 39 | @property 40 | def num_interventions(self): 41 | return self._num_interventions 42 | 43 | @property 44 | def total_steps(self): 45 | return self._total_step_count 46 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/peg_block_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/club_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/faucet.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_peg_unplug_side.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/bin_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/shelfb_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/lever.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/adept_models/kitchen/assets/kettle_asset.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_reach_push_pick_and_place_wall.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 25 | 27 | 28 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /earl_benchmark/envs/kitchen_assets/third_party/franka/assets/actuator1.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /video.py: -------------------------------------------------------------------------------- 1 | import os 2 | import sys 3 | 4 | import imageio 5 | import numpy as np 6 | 7 | import utils 8 | 9 | 10 | class VideoRecorder(object): 11 | def __init__(self, root_dir, height=512, width=512, fps=25, dmc_env = False, env_name = None): 12 | if not os.path.exists(root_dir): 13 | os.makedirs(root_dir) 14 | self.save_dir = utils.make_dir(root_dir, 'video') if root_dir else None 15 | self.height = height 16 | self.width = width 17 | self.fps = fps 18 | self.frames = [] 19 | self.dmc_env = dmc_env 20 | self.env_name = env_name 21 | 22 | def init(self, enabled=True): 23 | self.frames = [] 24 | self.enabled = self.save_dir is not None and enabled 25 | self.num_recorded_frames = 0 26 | 27 | def record(self, env): 28 | if self.enabled: 29 | if self.dmc_env: 30 | frame = env.physics.render(height=self.height, 31 | width=self.width, 32 | camera_id=0) 33 | else: 34 | frame = env.render(mode='rgb_array', height=self.height, width = self.width) # 35 | 36 | self.frames.append(frame) 37 | self.num_recorded_frames+=1 38 | 39 | def save(self, file_name): 40 | if self.enabled: 41 | path = os.path.join(self.save_dir, file_name) 42 | imageio.mimsave(path, self.frames, fps=self.fps) 43 | self.num_recorded_frames = 0 44 | 45 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/drawer_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/plug.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/handle_press.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_pick_place_v2.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 24 | 25 | 26 | 27 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_push_v2.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 24 | 25 | 26 | 27 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/sawyer_xyz/sawyer_reach_wall_v2.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/buttonbox.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /earl_benchmark/envs/metaworld_assets/objects/assets/shelf_dependencies.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | --------------------------------------------------------------------------------