├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── README_zh-CN.md ├── action_provider ├── __init__.py ├── action_base.py ├── action_provider_dds.py ├── action_provider_replay.py ├── action_provider_wh_dds.py └── create_action_provider.py ├── dds ├── __init__.py ├── commands_dds.py ├── dds_base.py ├── dds_create.py ├── dds_master.py ├── dex3_dds.py ├── g1_robot_dds.py ├── gripper_dds.py ├── inspire_dds.py ├── reset_pose_dds.py ├── rewards_dds.py ├── sharedmemorymanager.py └── sim_state_dds.py ├── doc ├── isaacsim4.5_install.md ├── isaacsim4.5_install_zh.md ├── isaacsim5.0_install.md └── isaacsim5.0_install_zh.md ├── fetch_assets.sh ├── image_server ├── __init__.py ├── image_server.py └── shared_memory_utils.py ├── img ├── Isaac-Move-Cylinder-G129-Dex1-Wholebody.png ├── Isaac-Move-Cylinder-G129-Dex3-Wholebody.png ├── Isaac-Move-Cylinder-G129-Inspire-Wholebody.png ├── Isaac-PickPlace-Cylinder-G129-Inspire-Joint.png ├── Isaac-PickPlace-Cylinder-H12-27dof-Inspire-Joint.png ├── Isaac-PickPlace-RedBlock-G129-Inspire-Joint.png ├── Isaac-PickPlace-RedBlock-H12-27dof-Inspire-Joint.png ├── Isaac-Stack-RgyBlock-G129-Inspire-Joint.png ├── Isaac-Stack-RgyBlock-H12-27dof-Inspire-Joint.png ├── mainview.png ├── pickplace_clinder_g129_dex1.png ├── pickplace_clinder_g129_dex3.png ├── pickplace_redblock_g129_dex1.png ├── pickplace_redblock_g129_dex3.png ├── stack_rgyblock_g129_dex1.png └── stack_rgyblock_g129_dex3.png ├── layeredcontrol └── robot_control_system.py ├── requirements.txt ├── reset_pose_test.py ├── robots └── unitree.py ├── send_commands_8bit.py ├── send_commands_keyboard.py ├── sim_main.py ├── tasks ├── __init__.py ├── common_config │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── camera_configs.cpython-310.pyc │ │ └── robot_configs.cpython-310.pyc │ ├── camera_configs.py │ └── robot_configs.py ├── common_event │ ├── __pycache__ │ │ └── event_manager.cpython-310.pyc │ └── event_manager.py ├── common_observations │ ├── __pycache__ │ │ ├── camera_state.cpython-310.pyc │ │ ├── dex3_state.cpython-310.pyc │ │ ├── g1_29dof_state.cpython-310.pyc │ │ └── gripper_state.cpython-310.pyc │ ├── camera_state.py │ ├── dex3_state.py │ ├── g1_29dof_state.py │ ├── gripper_state.py │ ├── h12_27dof_state.py │ └── inspire_state.py ├── common_rewards │ ├── base_reward_pickplace_cylindercfg.py │ ├── base_reward_pickplace_redblock.py │ └── base_reward_stack_rgyblock.py ├── common_scene │ ├── __pycache__ │ │ ├── base_scene_pickplace_cylindercfg.cpython-310.pyc │ │ ├── base_scene_pickplace_cylindercfg_1.cpython-310.pyc │ │ ├── base_scene_pickplace_cylindercfg_2.cpython-310.pyc │ │ ├── base_scene_pickplace_readblock.cpython-310.pyc │ │ ├── base_scene_pickplace_redblock.cpython-310.pyc │ │ └── base_scene_stack_rgyblock.cpython-310.pyc │ ├── base_scene_pick_redblock_into_drawer.py │ ├── base_scene_pickplace_cylindercfg.py │ ├── base_scene_pickplace_cylindercfg_wholebody.py │ ├── base_scene_pickplace_redblock.py │ └── base_scene_stack_rgyblock.py ├── common_termination │ ├── __pycache__ │ │ ├── base_termination_pick_place_cylinder.cpython-310.pyc │ │ ├── base_termination_pick_place_readblock.cpython-310.pyc │ │ ├── base_termination_pick_place_redblock.cpython-310.pyc │ │ └── base_termination_stack_rgyblock.cpython-310.pyc │ ├── base_termination_pick_place_cylinder.py │ ├── base_termination_pick_place_redblock.py │ ├── base_termination_pick_redblock_into_drawer.py │ └── base_termination_stack_rgyblock.py ├── config │ └── extension.toml ├── g1_tasks │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ └── pickplace_g1_env_cfg.cpython-310.pyc │ ├── move_cylinder_g1_29dof_dex1_wholebody │ │ ├── __init__.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── move_cylinder_g1_29dof_dex1_hw_env_cfg.py │ ├── move_cylinder_g1_29dof_dex3_wholebody │ │ ├── __init__.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── move_cylinder_g1_29dof_dex3_hw_env_cfg.py │ ├── move_cylinder_g1_29dof_inspire_wholebody │ │ ├── __init__.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── move_cylinder_g1_29dof_inspire_hw_env_cfg.py │ ├── pick_place_cylinder_g1_29dof_dex1 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── pickplace_cylinder_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_env_cfg.cpython-310.pyc │ │ │ └── pickplace_g1_joint_env_cfg.cpython-310.pyc │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── events.cpython-310.pyc │ │ │ │ ├── observations.cpython-310.pyc │ │ │ │ └── terminations.cpython-310.pyc │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── pickplace_cylinder_g1_29dof_dex1_joint_env_cfg.py │ ├── pick_place_cylinder_g1_29dof_dex3 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── pickplace_cylinder_g1_29dof_dex3_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_29dof_dex3_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_env_cfg.cpython-310.pyc │ │ │ └── pickplace_g1_joint_env_cfg.cpython-310.pyc │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── events.cpython-310.pyc │ │ │ │ ├── observations.cpython-310.pyc │ │ │ │ └── terminations.cpython-310.pyc │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── pickplace_cylinder_g1_29dof_dex3_joint_env_cfg.py │ ├── pick_place_cylinder_g1_29dof_inspire │ │ ├── __init__.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── pickplace_cylinder_g1_29dof_inspire_env_cfg.py │ ├── pick_place_redblock_g1_29dof_dex1 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── pickplace_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_joint_env_cfg.cpython-310.pyc │ │ │ └── pickplace_redblock_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── events.cpython-310.pyc │ │ │ │ ├── observations.cpython-310.pyc │ │ │ │ └── terminations.cpython-310.pyc │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── pickplace_redblock_g1_29dof_dex1_joint_env_cfg.py │ ├── pick_place_redblock_g1_29dof_dex3 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── pickplace_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_29dof_dex3_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_joint_env_cfg.cpython-310.pyc │ │ │ └── pickplace_redblock_g1_29dof_dex3_joint_env_cfg.cpython-310.pyc │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── events.cpython-310.pyc │ │ │ │ ├── observations.cpython-310.pyc │ │ │ │ └── terminations.cpython-310.pyc │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── pickplace_redblock_g1_29dof_dex3_joint_env_cfg.py │ ├── pick_place_redblock_g1_29dof_inspire │ │ ├── __init__.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── pickplace_redblock_g1_29dof_inspire_joint_env_cfg.py │ ├── pick_redblock_into_drawer_g1_29dof_dex1 │ │ ├── __init__.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ └── terminations.py │ │ └── pick_redblock_into_drawer_g1_29dof_dex1_joint_env_cfg.py │ ├── pick_redblock_into_drawer_g1_29dof_dex3 │ │ ├── __init__.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ └── terminations.py │ │ └── pick_redblock_into_drawer_g1_29dof_dex3_joint_env_cfg.py │ ├── stack_rgyblock_g1_29dof_dex1 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── pickplace_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_redblock_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ └── stack_rgyblock_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── events.cpython-310.pyc │ │ │ │ ├── observations.cpython-310.pyc │ │ │ │ └── terminations.cpython-310.pyc │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── stack_rgyblock_g1_29dof_dex1_joint_env_cfg.py │ ├── stack_rgyblock_g1_29dof_dex3 │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── pickplace_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_g1_joint_env_cfg.cpython-310.pyc │ │ │ ├── pickplace_redblock_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ ├── stack_rgyblock_g1_29dof_dex1_joint_env_cfg.cpython-310.pyc │ │ │ └── stack_rgyblock_g1_29dof_dex3_joint_env_cfg.cpython-310.pyc │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── events.cpython-310.pyc │ │ │ │ ├── observations.cpython-310.pyc │ │ │ │ └── terminations.cpython-310.pyc │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── stack_rgyblock_g1_29dof_dex3_joint_env_cfg.py │ └── stack_rgyblock_g1_29dof_inspire │ │ ├── __init__.py │ │ ├── mdp │ │ ├── __init__.py │ │ ├── observations.py │ │ ├── rewards.py │ │ └── terminations.py │ │ └── stack_rgyblock_g1_29dof_inspire_joint_env_cfg.py ├── h1-2_tasks │ ├── __init__.py │ ├── pick_place_cylinder_h12_27dof_inspire │ │ ├── __init__.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── pickplace_cylinder_h12_27dof_inspire_env_cfg.py │ ├── pick_place_redblock_h12_27dof_inspire │ │ ├── __init__.py │ │ ├── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ │ └── pickplace_redblock_h12_27dof_inspire_joint_env_cfg.py │ └── stack_rgyblock_h12_27dof_inspire │ │ ├── __init__.py │ │ ├── mdp │ │ ├── __init__.py │ │ ├── observations.py │ │ ├── rewards.py │ │ └── terminations.py │ │ └── stack_rgyblock_h12_27dof_inspire_joint_env_cfg.py └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-310.pyc │ ├── __init__.cpython-311.pyc │ ├── camera_utils.cpython-310.pyc │ ├── hydra.cpython-310.pyc │ ├── importer.cpython-310.pyc │ ├── importer.cpython-311.pyc │ ├── parse_cfg.cpython-310.pyc │ └── parse_cfg.cpython-311.pyc │ ├── env_config_utils.py │ ├── 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