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Repository: ir413/mvp
Branch: master
Commit: 5746656229c8
Files: 297
Total size: 58.8 MB
Directory structure:
gitextract_9yht4ahd/
├── .gitignore
├── GETTING_STARTED.md
├── README.md
├── TASKS.md
├── assets/
│ ├── licenses/
│ │ ├── franka-LICENSE.txt
│ │ ├── kukaiiwa-LICENSE.txt
│ │ └── ycb-LICENSE.txt
│ └── urdf/
│ ├── franka_description/
│ │ ├── meshes/
│ │ │ ├── collision/
│ │ │ │ ├── finger.obj
│ │ │ │ ├── finger.stl
│ │ │ │ ├── hand.obj
│ │ │ │ ├── hand.stl
│ │ │ │ ├── link0.obj
│ │ │ │ ├── link0.stl
│ │ │ │ ├── link1.obj
│ │ │ │ ├── link1.stl
│ │ │ │ ├── link2.obj
│ │ │ │ ├── link2.stl
│ │ │ │ ├── link3.obj
│ │ │ │ ├── link3.stl
│ │ │ │ ├── link4.obj
│ │ │ │ ├── link4.stl
│ │ │ │ ├── link5.obj
│ │ │ │ ├── link5.stl
│ │ │ │ ├── link6.obj
│ │ │ │ ├── link6.stl
│ │ │ │ ├── link7.obj
│ │ │ │ ├── link7.stl
│ │ │ │ ├── stltoobj.bat
│ │ │ │ └── stltoobj.mlx
│ │ │ └── visual/
│ │ │ ├── daetoobj.bat
│ │ │ ├── daetoobj.mlx
│ │ │ ├── finger.dae
│ │ │ ├── finger.mtl
│ │ │ ├── finger.obj
│ │ │ ├── hand.dae
│ │ │ ├── hand.mtl
│ │ │ ├── hand.obj
│ │ │ ├── link0.dae
│ │ │ ├── link0.mtl
│ │ │ ├── link0.obj
│ │ │ ├── link1.dae
│ │ │ ├── link1.mtl
│ │ │ ├── link1.obj
│ │ │ ├── link2.dae
│ │ │ ├── link2.mtl
│ │ │ ├── link2.obj
│ │ │ ├── link3.dae
│ │ │ ├── link3.mtl
│ │ │ ├── link3.obj
│ │ │ ├── link4.dae
│ │ │ ├── link4.mtl
│ │ │ ├── link4.obj
│ │ │ ├── link5.dae
│ │ │ ├── link5.mtl
│ │ │ ├── link5.obj
│ │ │ ├── link6.dae
│ │ │ ├── link6.mtl
│ │ │ ├── link6.obj
│ │ │ ├── link7.dae
│ │ │ ├── link7.mtl
│ │ │ └── link7.obj
│ │ └── robots/
│ │ └── franka_panda.urdf
│ ├── kuka_allegro_description/
│ │ ├── allegro.urdf
│ │ ├── kuka.urdf
│ │ ├── kuka_allegro.urdf
│ │ └── meshes/
│ │ ├── allegro/
│ │ │ ├── base_link.STL
│ │ │ ├── base_link.obj
│ │ │ ├── primary_base.obj
│ │ │ ├── primary_base.stl
│ │ │ ├── primary_medial.obj
│ │ │ ├── primary_medial.stl
│ │ │ ├── primary_proximal.obj
│ │ │ ├── primary_proximal.stl
│ │ │ ├── thumb_base.obj
│ │ │ ├── thumb_base.stl
│ │ │ ├── thumb_medial.obj
│ │ │ ├── thumb_medial.stl
│ │ │ ├── thumb_proximal.obj
│ │ │ └── thumb_proximal.stl
│ │ ├── biotac/
│ │ │ ├── biotac_sensor.obj
│ │ │ ├── biotac_sensor.stl
│ │ │ ├── biotac_sensor_thumb.obj
│ │ │ └── biotac_sensor_thumb.stl
│ │ ├── convert_stl2obj.py
│ │ ├── iiwa7/
│ │ │ ├── collision/
│ │ │ │ ├── link_0.obj
│ │ │ │ ├── link_0.stl
│ │ │ │ ├── link_1.obj
│ │ │ │ ├── link_1.stl
│ │ │ │ ├── link_2.obj
│ │ │ │ ├── link_2.stl
│ │ │ │ ├── link_3.obj
│ │ │ │ ├── link_3.stl
│ │ │ │ ├── link_4.obj
│ │ │ │ ├── link_4.stl
│ │ │ │ ├── link_5.obj
│ │ │ │ ├── link_5.stl
│ │ │ │ ├── link_6.obj
│ │ │ │ ├── link_6.stl
│ │ │ │ ├── link_7.obj
│ │ │ │ ├── link_7.stl
│ │ │ │ ├── link_7_old.obj
│ │ │ │ └── link_7_old.stl
│ │ │ └── visual/
│ │ │ ├── link_0.obj
│ │ │ ├── link_0.stl
│ │ │ ├── link_1.obj
│ │ │ ├── link_1.stl
│ │ │ ├── link_2.obj
│ │ │ ├── link_2.stl
│ │ │ ├── link_3.obj
│ │ │ ├── link_3.stl
│ │ │ ├── link_4.obj
│ │ │ ├── link_4.stl
│ │ │ ├── link_5.obj
│ │ │ ├── link_5.stl
│ │ │ ├── link_6.obj
│ │ │ ├── link_6.stl
│ │ │ ├── link_7.obj
│ │ │ ├── link_7.stl
│ │ │ ├── link_7_old.obj
│ │ │ └── link_7_old.stl
│ │ └── mounts/
│ │ ├── allegro_mount.obj
│ │ └── allegro_mount.stl
│ ├── sektion_cabinet_model/
│ │ ├── CMakeLists.txt
│ │ ├── config/
│ │ │ └── sektion_cabinet_model.rviz
│ │ ├── launch/
│ │ │ ├── sektion_cabinet_joint_state_publisher.launch
│ │ │ └── sektion_cabinet_rviz.launch
│ │ ├── meshes/
│ │ │ ├── box.obj
│ │ │ ├── door_left.mtl
│ │ │ ├── door_left.obj
│ │ │ ├── door_left.obj.mtl
│ │ │ ├── door_left.stl
│ │ │ ├── door_left.wrl
│ │ │ ├── door_left_nob.obj
│ │ │ ├── door_left_nob.obj.mtl
│ │ │ ├── door_left_nob.stl
│ │ │ ├── door_left_nob.wrl
│ │ │ ├── door_right.mtl
│ │ │ ├── door_right.obj
│ │ │ ├── door_right.obj.mtl
│ │ │ ├── door_right.stl
│ │ │ ├── door_right.wrl
│ │ │ ├── door_right_nob.obj
│ │ │ ├── door_right_nob.obj.mtl
│ │ │ ├── door_right_nob.stl
│ │ │ ├── door_right_nob.wrl
│ │ │ ├── drawer.mtl
│ │ │ ├── drawer.obj
│ │ │ ├── drawer.obj.mtl
│ │ │ ├── drawer.stl
│ │ │ ├── drawer.wrl
│ │ │ ├── drawer_convexdecomposition.obj
│ │ │ ├── drawer_convexdecomposition.wrl
│ │ │ ├── drawer_convexdecomposition0.obj
│ │ │ ├── drawer_convexdecomposition1.obj
│ │ │ ├── drawer_convexdecomposition2.obj
│ │ │ ├── drawer_convexdecomposition3.obj
│ │ │ ├── drawer_convexdecomposition4.obj
│ │ │ ├── drawer_convexdecomposition5.obj
│ │ │ ├── drawer_convexdecomposition6.obj
│ │ │ ├── drawer_handle.obj
│ │ │ ├── drawer_handle.obj.mtl
│ │ │ ├── drawer_handle.stl
│ │ │ ├── drawer_handle.wrl
│ │ │ ├── drawer_handle_convexdecomposition.obj
│ │ │ ├── drawer_handle_convexdecomposition.wrl
│ │ │ ├── sektion.mtl
│ │ │ ├── sektion.obj
│ │ │ ├── sektion.obj.mtl
│ │ │ ├── sektion.stl
│ │ │ ├── sektion.wrl
│ │ │ ├── sektion_convexdecomposition.obj
│ │ │ ├── sektion_convexdecomposition.wrl
│ │ │ ├── sektion_convexdecomposition0.obj
│ │ │ ├── sektion_convexdecomposition1.obj
│ │ │ ├── sektion_convexdecomposition2.obj
│ │ │ ├── sektion_convexdecomposition3.obj
│ │ │ ├── sektion_convexdecomposition4.obj
│ │ │ ├── sektion_convexdecomposition5.obj
│ │ │ ├── sektion_convexdecomposition6.obj
│ │ │ ├── table_top.obj
│ │ │ ├── table_top.obj.mtl
│ │ │ ├── table_top.stl
│ │ │ ├── table_top.wrl
│ │ │ └── wavefront/
│ │ │ ├── door_left.obj
│ │ │ ├── door_left.wrl
│ │ │ ├── door_left_nob.obj
│ │ │ ├── door_left_nob.wrl
│ │ │ ├── door_right.obj
│ │ │ ├── door_right.wrl
│ │ │ ├── door_right_nob.obj
│ │ │ ├── door_right_nob.wrl
│ │ │ ├── drawer.obj
│ │ │ ├── drawer_handle.obj
│ │ │ ├── drawer_handle.wrl
│ │ │ ├── sektion.obj
│ │ │ ├── sektion.wrl
│ │ │ ├── table_top.obj
│ │ │ └── table_top.wrl
│ │ ├── package.xml
│ │ └── urdf/
│ │ ├── sektion_cabinet.urdf
│ │ └── sektion_cabinet_2.urdf
│ └── ycb/
│ ├── 010_potted_meat_can/
│ │ ├── 010_potted_meat_can.urdf
│ │ ├── collision.obj
│ │ ├── textured.mtl
│ │ └── textured.obj
│ ├── 011_banana/
│ │ ├── 011_banana.urdf
│ │ ├── collision.obj
│ │ ├── textured.mtl
│ │ └── textured.obj
│ └── 025_mug/
│ ├── 025_mug.urdf
│ ├── mug_collision.obj
│ ├── mug_collision_tw.obj
│ ├── mug_collision_vhacd.obj
│ ├── mug_visual.obj
│ ├── textured.mtl
│ └── textured.obj
├── configs/
│ ├── bc/
│ │ ├── real.yaml
│ │ ├── sim.yaml
│ │ └── task/
│ │ ├── FrankaPickPixels.yaml
│ │ └── FrankaReachPixels.yaml
│ └── ppo/
│ ├── config.yaml
│ ├── task/
│ │ ├── FrankaCabinet.yaml
│ │ ├── FrankaCabinetPixels.yaml
│ │ ├── FrankaMove.yaml
│ │ ├── FrankaMovePixels.yaml
│ │ ├── FrankaPick.yaml
│ │ ├── FrankaPickObject.yaml
│ │ ├── FrankaPickObjectPixels.yaml
│ │ ├── FrankaPickPixels.yaml
│ │ ├── FrankaReach.yaml
│ │ ├── FrankaReachPixels.yaml
│ │ ├── KukaCabinet.yaml
│ │ ├── KukaCabinetPixels.yaml
│ │ ├── KukaMove.yaml
│ │ ├── KukaMovePixels.yaml
│ │ ├── KukaPick.yaml
│ │ ├── KukaPickObject.yaml
│ │ ├── KukaPickObjectPixels.yaml
│ │ ├── KukaPickPixels.yaml
│ │ ├── KukaReach.yaml
│ │ └── KukaReachPixels.yaml
│ └── train/
│ ├── FrankaCabinet.yaml
│ ├── FrankaCabinetPixels.yaml
│ ├── FrankaMove.yaml
│ ├── FrankaMovePixels.yaml
│ ├── FrankaPick.yaml
│ ├── FrankaPickObject.yaml
│ ├── FrankaPickObjectPixels.yaml
│ ├── FrankaPickPixels.yaml
│ ├── FrankaReach.yaml
│ ├── FrankaReachPixels.yaml
│ ├── KukaCabinet.yaml
│ ├── KukaCabinetPixels.yaml
│ ├── KukaMove.yaml
│ ├── KukaMovePixels.yaml
│ ├── KukaPick.yaml
│ ├── KukaPickObject.yaml
│ ├── KukaPickObjectPixels.yaml
│ ├── KukaPickPixels.yaml
│ ├── KukaReach.yaml
│ └── KukaReachPixels.yaml
├── mvp/
│ ├── __init__.py
│ ├── backbones/
│ │ ├── __init__.py
│ │ ├── model_zoo.py
│ │ └── vit.py
│ ├── bc/
│ │ ├── __init__.py
│ │ ├── actor.py
│ │ ├── bc.py
│ │ ├── dataset.py
│ │ └── utils.py
│ ├── ppo/
│ │ ├── __init__.py
│ │ ├── actor_critic.py
│ │ ├── ppo.py
│ │ └── storage.py
│ └── utils/
│ ├── __init__.py
│ └── hydra_utils.py
├── pixmc/
│ ├── __init__.py
│ ├── tasks/
│ │ ├── __init__.py
│ │ ├── base/
│ │ │ ├── __init__.py
│ │ │ ├── base_task.py
│ │ │ └── vec_task.py
│ │ ├── franka_cabinet.py
│ │ ├── franka_move.py
│ │ ├── franka_pick.py
│ │ ├── franka_pick_object.py
│ │ ├── franka_reach.py
│ │ ├── kuka_cabinet.py
│ │ ├── kuka_move.py
│ │ ├── kuka_pick.py
│ │ ├── kuka_pick_object.py
│ │ └── kuka_reach.py
│ └── utils/
│ ├── __init__.py
│ └── torch_jit_utils.py
├── requirements.txt
├── setup.py
└── tools/
├── train_bc.py
└── train_ppo.py
================================================
FILE CONTENTS
================================================
================================================
FILE: .gitignore
================================================
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# Shared objects
*.so
# Distribution / packaging
build/
*.egg-info/
*.egg
# Temporary files
*.swn
*.swo
*.swp
# PyCharm
.idea/
# VSCode
.vscode/
# Mac
.DS_STORE
# Other
logs/
scratch*
pretrained/
================================================
FILE: GETTING_STARTED.md
================================================
## Getting Started
This document provides brief installation and training instructions.
- For general information, please see [`README.md`](README.md)
- For tasks descriptions, please see [`TASKS.md`](TASKS.md)
**Notes:**
- The code has been tested with PyTorch 1.10, CUDA 11.3 and cuDNN 8.2
- All experiments in the [initial paper](https://arxiv.org/abs/2203.06173) were performed using IsaacGym **Preview 2**
- The code should be compatible with IsaacGym Preview 3/4 (not tested extensively)
### Installation instructions
Create a conda environment:
```
conda create -n mvp python=3.7
conda activate mvp
```
Install [PyTorch](https://pytorch.org/get-started/locally/):
```
conda install pytorch torchvision -c pytorch
```
For RL experiments, install [IsaacGym](https://developer.nvidia.com/isaac-gym):
```
cd /path/to/isaac-gym/python
pip install -e .
```
Clone this repo:
```
cd /path/to/code
git clone git@github.com:ir413/mvp.git
```
Install Python dependencies:
```
cd /path/to/code/mvp
pip install -r requirements.txt
```
Install this repo:
```
cd /path/to/code/mvp
pip install -e .
```
### Reinforcement Learning with PPO
Train `FrankaPick` from states:
```
python tools/train_ppo.py task=FrankaPick
```
Train `FrankaPick` from pixels:
```
python tools/train_ppo.py task=FrankaPickPixels
```
Test a policy after N iterations:
```
python tools/train_ppo.py test=True headless=False logdir=/path/to/job resume=N
```
### Imitation Learning with BC
Steps:
1. Record demonstrations (see `bc/dataset.py` for expected format)
2. Train a policy on recorded demonstrations (example commands below)
Train on real demos:
```
python tools/train_bc.py logdir=/path/to/job/dir
```
Train on sim demos:
```
python tools/train_bc.py --config-name sim.yaml logdir=/path/to/job/dir
```
================================================
FILE: README.md
================================================
## Masked Visual Pre-training for Robotics
<div align="center">
<image src="assets/figs/teaser_real.png" width="720px" />
<p></p>
</div>
### Overview
This repository contains the PyTorch implementation of the following two papers:
- [Masked Visual Pre-training for Motor Control](https://arxiv.org/abs/2203.06173)
- [Real-World Robot Learning with Masked Visual Pre-training](https://arxiv.org/abs/2210.03109)
It includes the pre-trained vision models and PPO/BC training code used in the papers.
### Pre-trained vision enocoders
We provide our pre-trained vision encoders. The models are in the same format as [mae](https://github.com/facebookresearch/mae) and [timm](https://github.com/rwightman/pytorch-image-models):
<table><tbody>
<!-- START TABLE -->
<!-- TABLE HEADER -->
<th valign="bottom">backbone</th>
<th valign="bottom">params</th>
<th valign="bottom">images</th>
<th valign="bottom">objective</th>
<th valign="bottom">md5</th>
<th valign="bottom">download</th>
<!-- TABLE BODY -->
<!-- ROW vits-mae-hoi -->
<tr>
<td align="center">ViT-S</td>
<td align="center">22M</td>
<td align="center">700K</td>
<td align="center">MAE</td>
<td align="center"><tt>fe6e30</tt></td>
<td align="center"><a href="https://berkeley.box.com/shared/static/m93ynem558jo8vltlads5rcmnahgsyzr.pth">model</a></td>
</tr>
<!-- vitb-mae-egosoup -->
<tr>
<td align="center">ViT-B</td>
<td align="center">86M</td>
<td align="center">4.5M</td>
<td align="center">MAE</td>
<td align="center"><tt>526093</tt></td>
<td align="center"><a href="https://berkeley.box.com/shared/static/0ckepd2ja3pi570z89ogd899cn387yut.pth">model</a></td>
</tr>
<!-- vitl-mae-egosoup -->
<tr>
<td align="center">ViT-L</td>
<td align="center">307M</td>
<td align="center">4.5M</td>
<td align="center">MAE</td>
<td align="center"><tt>5352b0</tt></td>
<td align="center"><a href="https://berkeley.box.com/shared/static/6p0pc47mlpp4hhwlin2hf035lxlgddxr.pth">model</a></td>
</tr>
<!-- END TABLE -->
</tbody></table>
You can use our pre-trained models directly in your code (e.g., to extract image features) or use them with our training code. We provde instructions for both use-cases next.
### Using pre-trained models in your code
Install [PyTorch](https://pytorch.org/get-started/locally/) and mvp package:
```
pip install git+https://github.com/ir413/mvp
```
Import pre-trained models:
```python
import mvp
model = mvp.load("vitb-mae-egosoup")
model.freeze()
```
### Benchmark suite and training code
Please see [`TASKS.md`](TASKS.md) for task descriptions and [`GETTING_STARTED.md`](GETTING_STARTED.md) for installation and training instructions.
### Citation
If you find the code or pre-trained models useful in your research, please consider citing an appropriate subset of the following papers:
```
@article{Xiao2022
title = {Masked Visual Pre-training for Motor Control},
author = {Tete Xiao and Ilija Radosavovic and Trevor Darrell and Jitendra Malik},
journal = {arXiv:2203.06173},
year = {2022}
}
@article{Radosavovic2022,
title = {Real-World Robot Learning with Masked Visual Pre-training},
author = {Ilija Radosavovic and Tete Xiao and Stephen James and Pieter Abbeel and Jitendra Malik and Trevor Darrell},
year = {2022},
journal = {CoRL}
}
```
### Acknowledgments
We thank NVIDIA IsaacGym and PhysX teams for making the simulator and preview code examples available.
================================================
FILE: TASKS.md
================================================
# PixMC Benchmark Suite
**Robots:**
- [Franka](TASKS.md#franka-robot)
- [Kuka](TASKS.md#kuka-robot)
**Tasks:**
- [FrankaReach](TASKS.md#frankareach-task)
- [FrankaCabinet](TASKS.md#frankacabinet-task)
- [FrankaPick](TASKS.md#frankapick-task)
- [FrankaMove](TASKS.md#frankamove-task)
- [KukaReach](TASKS.md#kukareach-task)
- [KukaCabinet](TASKS.md#kukacabinet-task)
- [KukaPick](TASKS.md#kukapick-task)
- [KukaMove](TASKS.md#kukamove-task)
## Franka Robot
**Robot randomization:**
```
init_dof_pos = [1.157, -1.066, -0.155, -2.239, -1.841, 1.003, 0.469, 0.035, 0.035]
dof_pos = init_dof_pos + uniform(-0.125, 0.125)
```
**Proprioceptive observations:**
| index | type | description |
|:------|:--------|:------------|
| 0:7 | dof pos | arm |
| 7:9 | dof pos | fingers |
| 9:16 | dof vel | arm |
| 16:18 | dof vel | fingers |
**Image observations:**
<div align="left">
<image src="assets/ims/franka_ego_1.png" width="168px" />
<image src="assets/ims/franka_ego_2.png" width="168px" />
<image src="assets/ims/franka_ego_3.png" width="168px" />
<p></p>
</div>
Egocentric `224x224x3` RGB image (examples shown above).
**Action space:**
| index | type | description |
|:------|:--------------|:------------|
| 0:7 | delta dof pos | arm |
| 7:9 | delta dof pos | fingers |
## Kuka Robot
**Robot randomization:**
```
init_dof_pos = [
0.0, -0.4, 0.0, -1.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0
]
dof_pos = init_dof_pos + uniform(-0.125, 0.125)
```
**Proprioceptive observations:**
| index | type | description |
|:------|:--------|:--------------|
| 0:7 | dof pos | arm |
| 7:11 | dof pos | index finger |
| 11:15 | dof pos | middle finger |
| 15:19 | dof pos | ring finger |
| 19:23 | dof pos | thumb |
| 23:30 | dof vel | arm |
| 30:34 | dof vel | index finger |
| 34:38 | dof vel | middle finger |
| 38:42 | dof vel | ring finger |
| 42:46 | dof vel | thumb |
**Image observations:**
<div align="left">
<image src="assets/ims/kuka_ego_1.png" width="168px" />
<image src="assets/ims/kuka_ego_2.png" width="168px" />
<image src="assets/ims/kuka_ego_3.png" width="168px" />
<p></p>
</div>
Egocentric `224x224x3` RGB image (examples shown above).
**Action space:**
| index | type | description |
|:------|:--------------|:--------------|
| 0:7 | delta dof pos | arm |
| 7:11 | delta dof pos | index finger |
| 11:15 | delta dof pos | middle finger |
| 15:19 | delta dof pos | ring finger |
| 19:23 | delta dof pos | thumb |
## FrankaReach Task
<img src="assets/gifs/franka_reach.gif" align="middle" width="360"/>
**Description:**
Reach the goal (green sphere) with the robot hand.
**Goal randomization:**
<img src="assets/ims/franka_reach_goal_rand.png" align="middle" width="360"/>
```
init_goal_pos = [0.55, 0.0, 0.7]
goal_pos[0] = init_goal_pos[0] + uniform(-0.2, 0.2)
goal_pos[1] = init_goal_pos[1] + uniform(-0.3, 0.3)
goal_pos[2] = init_goal_pos[2] + uniform(-0.2, 0.2)
```
**Oracle observations:**
| index | type | description |
|:------|:-----|:----------------|
| 0:3 | xyz | hand pos |
| 3:6 | xyz | goal pos |
| 6:9 | xyz | hand to goal |
**Reward function:**
```
reward = 0.08 * goal_dist \
+ 0.4 * near_goal_bonus \
- 0.01 * action_penalty
```
**Success:**
10 consecutive timesteps with hand at the goal.
## FrankaCabinet Task
<img src="assets/gifs/franka_cabinet.gif" align="middle" width="360"/>
**Description:**
Open the top drawer of the cabinet.
**Cabinet randomization:**
<img src="assets/ims/franka_cabinet_rand.png" align="middle" width="360"/>
```
init_cabinet_pos = [0.05, 0.0, 0.45]
cabinet_pos[0] = init_cabinet_pos[0] + uniform(-0.075, 0.075)
cabinet_pos[1] = init_cabinet_pos[1] + uniform(-0.075, 0.075)
cabinet_pos[2] = init_cabinet_pos[2] + uniform(-0.05, 0.05)
```
**Oracle observations:**
| index | type | description |
|:------|:-----|:------------------|
| 0:3 | xyz | lfinger pos |
| 3:6 | xyz | rfinger pos |
| 6:9 | xyz | handle pos |
| 9:12 | xyz | lfinger to handle |
| 12:15 | xyz | rfinger to handle |
| 15:16 | d | handle to open |
**Reward function:**
```
reward = 0.06 * lfinger_handle_dist \
+ 0.06 * rfinger_handle_dist \
+ 1.0 * near_handle_bonus \
+ 2.0 * drawer_open_bonus \
+ 6.0 * open_dist \
+ 3.0 * grasp_pose_bonus \
+ 2.0 * fully_open_bonus \
- 0.01 * action_penalty
```
**Success:**
10 consecutive timesteps with fully open drawer and gripper at handle.
## FrankaPick Task
<img src="assets/gifs/franka_pick.gif" align="middle" width="360"/>
**Description:**
Pick up the blue cube and lift it above the table.
**Object randomization:**
<img src="assets/ims/franka_pick_object_rand.png" align="middle" width="360"/>
```
init_object_pos = [0.5, 0.0, 0.4225]
object_pos[0] = init_object_pos[0] + uniform(-0.1, 0.1)
object_pos[1] = init_object_pos[1] + uniform(-0.2, 0.2)
```
**Oracle observations:**
| index | type | description |
|:------|:-----|:------------------|
| 0:3 | xyz | lfinger pos |
| 3:6 | xyz | rfinger pos |
| 6:9 | xyz | object pos |
| 9:12 | xyz | lfinger to object |
| 12:15 | xyz | rfinger to object |
| 15:16 | d | object to height |
**Reward function:**
```
reward = 0.08 * lfinger_object_dist \
+ 0.08 * rfinger_object_dist \
+ 4.0 * lift_bonus \
+ 1.28 * height_dist \
+ 4.0 * height_bonus \
- 0.01 * action_penalty
```
**Success:**
10 consecutive timesteps with object at goal height.
## FrankaMove Task
<img src="assets/gifs/franka_move.gif" align="middle" width="360"/>
**Description:**
Pick up the blue cube and move it to the green sphere.
**Object randomization:**
<img src="assets/ims/franka_move_object_rand.png" align="middle" width="360"/>
```
init_object_pos = [0.5, 0.0, 0.4225]
object_pos[0] = init_object_pos[0] + uniform(-0.1, 0.1)
object_pos[1] = init_object_pos[1] + uniform(-0.2, 0.2)
```
**Goal randomization:**
<img src="assets/ims/franka_move_goal_rand.png" align="middle" width="360"/>
```
init_goal_pos = [0.5, 0.0, 0.7]
goal_pos[0] = init_goal_pos[0] + uniform(-0.1, 0.1)
goal_pos[1] = init_goal_pos[1] + uniform(-0.2, 0.2)
goal_pos[2] = init_goal_pos[2] + uniform(-0.1, 0.1)
```
**Oracle observations:**
| index | type | description |
|:------|:-----|:------------------|
| 0:3 | xyz | lfinger pos |
| 3:6 | xyz | rfinger pos |
| 6:9 | xyz | object pos |
| 9:12 | xyz | goal pos |
| 12:15 | xyz | lfinger to object |
| 15:18 | xyz | rfinger to object |
| 18:21 | xyz | object to goal |
**Reward function:**
```
reward = 0.08 * lfinger_object_dist \
+ 0.08 * rfinger_object_dist \
+ 4.0 * lift_bonus \
+ 1.28 * object_goal_dist \
+ 4.0 * object_goal_bonus \
- 0.01 * action_penalty
```
**Success:**
10 consecutive timesteps with object at goal location.
## KukaReach Task
<img src="assets/gifs/kuka_reach.gif" align="middle" width="360"/>
**Description:**
Reach the goal (green sphere) with the index finger.
**Goal randomization:**
<img src="assets/ims/kuka_reach_goal_rand.png" align="middle" width="360"/>
```
init_goal_pos = [0.45, 0.0, 0.65]
goal_pos[0] = init_goal_pos[0] + uniform(-0.2, 0.2)
goal_pos[1] = init_goal_pos[1] + uniform(-0.3, 0.3)
goal_pos[2] = init_goal_pos[2] + uniform(-0.2, 0.2)
```
**Oracle observations:**
| index | type | description |
|:------|:-----|:----------------|
| 0:3 | xyz | index pos |
| 3:6 | xyz | goal pos |
| 6:9 | xyz | index to goal |
**Reward function:**
```
reward = 0.08 * goal_dist \
+ 0.4 * near_goal_bonus \
- 0.01 * action_penalty
```
**Success:**
10 consecutive timesteps with the index finger at the goal.
## KukaCabinet Task
<img src="assets/gifs/kuka_cabinet.gif" align="middle" width="360"/>
**Description:**
Open the top drawer of the cabinet.
**Cabinet randomization:**
<img src="assets/ims/kuka_cabinet_rand.png" align="middle" width="360"/>
```
init_cabinet_pos = [0.05, 0.0, 0.45]
cabinet_pos[0] = init_cabinet_pos[0] + uniform(-0.075, 0.075)
cabinet_pos[1] = init_cabinet_pos[1] + uniform(-0.075, 0.075)
cabinet_pos[2] = init_cabinet_pos[2] + uniform(-0.05, 0.05)
```
**Oracle observations:**
| index | type | description |
|:------|:-----|:------------------|
| 0:3 | xyz | palm pos |
| 3:6 | xyz | index pos |
| 6:9 | xyz | middle pos |
| 9:12 | xyz | ring pos |
| 12:15 | xyz | thumb pos |
| 15:18 | xyz | handle pos |
| 18:21 | xyz | index to handle |
| 21:24 | xyz | middle to handle |
| 24:27 | xyz | ring to handle |
| 27:30 | xyz | thumb to handle |
| 30:31 | d | handle to open |
**Reward function:**
```
reward = 0.04 * index_handle_dist \
+ 0.04 * middle_handle_dist \
+ 0.04 * ring_handle_dist \
+ 0.08 * thumb_handle_dist \
+ 2.0 * drawer_open_bonus \
+ 6.0 * open_dist \
+ 2.0 * fully_open_bonus \
- 0.01 * action_penalty
```
**Success:**
10 consecutive timesteps with fully open drawer and hand at handle.
## KukaPick Task
<img src="assets/gifs/kuka_pick.gif" align="middle" width="360"/>
**Description:**
Pick up the blue cube and lift it above the table.
**Object randomization:**
<img src="assets/ims/kuka_pick_object_rand.png" align="middle" width="360"/>
```
init_object_pos = [0.5, 0.0, 0.43]
object_pos[0] = init_object_pos[0] + uniform(-0.1, 0.1)
object_pos[1] = init_object_pos[1] + uniform(-0.2, 0.2)
```
**Oracle observations:**
| index | type | description |
|:------|:-----|:------------------|
| 0:3 | xyz | palm pos |
| 3:6 | xyz | index pos |
| 6:9 | xyz | middle pos |
| 9:12 | xyz | ring pos |
| 12:15 | xyz | thumb pos |
| 15:18 | xyz | object pos |
| 18:21 | xyz | index to object |
| 21:24 | xyz | middle to object |
| 24:27 | xyz | ring to object |
| 27:30 | xyz | thumb to object |
| 30:31 | d | object to height |
**Reward function:**
```
reward = 0.04 * index_object_dist \
+ 0.04 * middle_object_dist \
+ 0.04 * ring_object_dist \
+ 0.08 * thumb_object_dist \
+ 4.0 * lift_bonus \
+ 1.28 * height_dist \
+ 4.0 * height_bonus \
- 0.01 * action_penalty
```
**Success:**
10 consecutive timesteps with object at goal height.
## KukaMove Task
<img src="assets/gifs/kuka_move.gif" align="middle" width="360"/>
**Description:**
Pick up the blue cube and move it to the green sphere.
**Object randomization:**
<img src="assets/ims/kuka_move_object_rand.png" align="middle" width="360"/>
```
init_object_pos = [0.5, 0.0, 0.43]
object_pos[0] = init_object_pos[0] + uniform(-0.1, 0.1)
object_pos[1] = init_object_pos[1] + uniform(-0.2, 0.2)
```
**Goal randomization:**
<img src="assets/ims/kuka_move_goal_rand.png" align="middle" width="360"/>
```
init_goal_pos = [0.5, 0.0, 0.7]
goal_pos[0] = init_goal_pos[0] + uniform(-0.1, 0.1)
goal_pos[1] = init_goal_pos[1] + uniform(-0.2, 0.2)
goal_pos[2] = init_goal_pos[2] + uniform(-0.1, 0.1)
```
**Oracle observations:**
| index | type | description |
|:------|:-----|:------------------|
| 0:3 | xyz | palm pos |
| 3:6 | xyz | index pos |
| 6:9 | xyz | middle pos |
| 9:12 | xyz | ring pos |
| 12:15 | xyz | thumb pos |
| 15:18 | xyz | object pos |
| 18:21 | xyz | goal pos |
| 21:24 | xyz | index to object |
| 24:27 | xyz | middle to object |
| 27:30 | xyz | ring to object |
| 30:33 | xyz | thumb to object |
| 33:36 | xyz | object to goal |
**Reward function:**
```
reward = 0.04 * index_object_dist \
+ 0.04 * middle_object_dist \
+ 0.04 * ring_object_dist \
+ 0.08 * thumb_object_dist \
+ 4.0 * lift_bonus \
+ 1.28 * object_goal_dist \
+ 4.0 * object_goal_bonus \
- 0.01 * action_penalty
```
**Success:**
10 consecutive timesteps with object at goal location.
================================================
FILE: assets/licenses/franka-LICENSE.txt
================================================
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================================================
FILE: assets/licenses/kukaiiwa-LICENSE.txt
================================================
BSD 2-Clause License
Copyright (c) 2016-2019, Salvatore Virga - salvo.virga@tum.de, Marco Esposito - marco.esposito@tum.de
Technische Universität München
Chair for Computer Aided Medical Procedures and Augmented Reality
Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany
http://campar.in.tum.de
All rights reserved.
Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, Orebro University, Sweden
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
================================================
FILE: assets/licenses/ycb-LICENSE.txt
================================================
YCB models are licensed under the following term:
The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research
Berk C. Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, Aaron M. Dollar
This site provides the data for the YCB Object and Model set.
Related publications:
* B. Calli, A. Walsman, A. Singh, S. Srinivasa, P. Abbeel and A. M. Dollar, ["Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set,"](https://www.eng.yale.edu/grablab/pubs/Calli_RAM2015.pdf) in IEEE Robotics & Automation Magazine, vol. 22, no. 3, pp. 36-52, Sept. 2015. doi: [10.1109/MRA.2015.2448951](http://dx.doi.org/10.1109/MRA.2015.2448951)
* B. Calli, A. Singh, A. Walsman, S. Srinivasa, P. Abbeel and A. M. Dollar, ["The YCB object and Model set: Towards common benchmarks for manipulation research,"](https://www.eng.yale.edu/grablab/pubs/Calli_ICAR2015.pdf) International Conference on Advanced Robotics (ICAR), Istanbul, 2015, pp. 510-517. doi: [10.1109/ICAR.2015.7251504](http://dx.doi.org/10.1109/ICAR.2015.7251504)
For requesting the physical objects and detailed information about the project, please visit [ycbbenchmarks.org](http://ycbbenchmarks.org/).
Data are collected by two state of the art systems: UC Berkley's scanning rig and the Google scanner.
For the data collected with the UC Berkley's scanning rig (which is made up of RGB and RGB-D cameras and was also used for [BigBIRD](http://people.eecs.berkeley.edu/~pabbeel/papers/2014-ICRA-BigBIRD.pdf)), we provide:
* a mesh generated with Poisson reconstruction
* a mesh generated with volumetric range image integration
* textured versions of both meshes
* Kinbody files for using the meshes with OpenRAVE
* point cloud of the object generated by all the viewpoints
* 600 High-resolution RGB images
* 600 RGBD images
For the data collected with the Google scanner, we provide:
* 3 meshes generated (with 16k, 64k, and 512k polygons)
* textured versions of each mesh
* Kinbody files for using the meshes with OpenRAVE
Note that some objects, depending on their properties (e.g. transparency) may not have complete meshes. We plan to later release better meshes for these objects using more advanced algorithms.
You can download files for individual objects using the table below.
We also provide the following python scripts and ROS node for downloading and processing the data:
* [ycb_downloader.py](http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/scripts_to_publish/ycb_downloader.py)
* [ycb_generate_point_cloud.py](http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/scripts_to_publish/ycb_generate_point_cloud.py)
* [ycb_benchmarks_ros_node.zip](http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/scripts_to_publish/ycb_benchmarks_ros_node.zip)
For installing some required packages in Ubuntu, you can use the following command:
sudo apt-get install python-scipy python-numpy python-h5py
License for the data set: Creative Commons Attribution 4.0 International (CC BY 4.0)
https://creativecommons.org/licenses/by/4.0/
License for the code: MIT license
================================================
FILE: assets/urdf/franka_description/meshes/collision/finger.obj
================================================
####
#
# OBJ File Generated by Meshlab
#
####
# Object finger.obj
#
# Vertices: 52
# Faces: 32
#
####
vn 0.999991 0.003723 -0.001919
v 0.010360 0.026403 0.000155
vn 0.019341 -0.997893 -0.061925
v 0.010449 0.002583 0.000147
vn -0.999568 -0.025962 0.013789
v -0.010387 0.002534 0.000132
vn -0.999606 -0.009503 0.026403
v -0.010479 0.016102 0.018988
vn -0.000579 0.001464 -0.999999
v -0.010401 0.026309 0.000167
vn -0.044737 0.976483 0.210900
v -0.010389 0.025220 0.019188
vn -0.871286 -0.490748 0.005227
v -0.008730 -0.000024 0.036165
vn 0.999861 0.006488 0.015354
v 0.010400 0.025253 0.019037
vn 0.377718 0.867563 0.323518
v 0.005840 0.014274 0.053803
vn 0.736099 -0.021564 0.676530
v 0.008616 0.013989 0.051328
vn 0.999373 -0.008600 0.034345
v 0.010495 0.015103 0.018436
vn 0.013041 -0.999896 -0.006124
v 0.008693 -0.000133 0.050166
vn -0.998603 -0.032800 0.041418
v -0.008623 -0.000057 0.050953
vn -0.588468 -0.017705 0.808327
v -0.005481 -0.000091 0.053725
vn 0.004085 -0.008700 0.999954
v -0.005278 0.014293 0.053849
vn -0.691057 -0.012018 0.722700
v -0.007778 0.014218 0.052366
vn -0.665951 0.690851 0.281486
v -0.008841 0.013918 0.050589
vn 0.736099 -0.021564 0.676530
v 0.006138 -0.000021 0.053578
vn -0.002818 0.998255 0.058981
v 0.010360 0.026403 0.000155
vn 0.000073 0.000898 -1.000000
v 0.010360 0.026403 0.000155
vn 0.999898 -0.012431 0.007036
v 0.010449 0.002583 0.000147
vn 0.000724 0.000331 -1.000000
v 0.010449 0.002583 0.000147
vn -0.871286 -0.490748 0.005227
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vn 0.002403 -0.997480 -0.070914
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================================================
FILE: assets/urdf/franka_description/meshes/collision/hand.obj
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FILE: assets/urdf/franka_description/meshes/collision/link0.obj
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FILE: assets/urdf/franka_description/meshes/collision/link1.obj
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# End of File
================================================
FILE: assets/urdf/franka_description/meshes/collision/link2.obj
================================================
####
#
# OBJ File Generated by Meshlab
#
####
# Object link2.obj
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# Faces: 300
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# End of File
================================================
FILE: assets/urdf/franka_description/meshes/collision/link5.obj
================================================
####
#
# OBJ File Generated by Meshlab
#
####
# Object link5.obj
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# Faces: 300
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FILE: assets/urdf/franka_description/meshes/collision/link6.obj
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# End of File
================================================
FILE: assets/urdf/franka_description/meshes/collision/link7.obj
================================================
####
#
# OBJ File Generated by Meshlab
#
####
# Object link7.obj
#
# Vertices: 180
# Faces: 200
#
####
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gitextract_9yht4ahd/
├── .gitignore
├── GETTING_STARTED.md
├── README.md
├── TASKS.md
├── assets/
│ ├── licenses/
│ │ ├── franka-LICENSE.txt
│ │ ├── kukaiiwa-LICENSE.txt
│ │ └── ycb-LICENSE.txt
│ └── urdf/
│ ├── franka_description/
│ │ ├── meshes/
│ │ │ ├── collision/
│ │ │ │ ├── finger.obj
│ │ │ │ ├── finger.stl
│ │ │ │ ├── hand.obj
│ │ │ │ ├── hand.stl
│ │ │ │ ├── link0.obj
│ │ │ │ ├── link0.stl
│ │ │ │ ├── link1.obj
│ │ │ │ ├── link1.stl
│ │ │ │ ├── link2.obj
│ │ │ │ ├── link2.stl
│ │ │ │ ├── link3.obj
│ │ │ │ ├── link3.stl
│ │ │ │ ├── link4.obj
│ │ │ │ ├── link4.stl
│ │ │ │ ├── link5.obj
│ │ │ │ ├── link5.stl
│ │ │ │ ├── link6.obj
│ │ │ │ ├── link6.stl
│ │ │ │ ├── link7.obj
│ │ │ │ ├── link7.stl
│ │ │ │ ├── stltoobj.bat
│ │ │ │ └── stltoobj.mlx
│ │ │ └── visual/
│ │ │ ├── daetoobj.bat
│ │ │ ├── daetoobj.mlx
│ │ │ ├── finger.dae
│ │ │ ├── finger.mtl
│ │ │ ├── finger.obj
│ │ │ ├── hand.dae
│ │ │ ├── hand.mtl
│ │ │ ├── hand.obj
│ │ │ ├── link0.dae
│ │ │ ├── link0.mtl
│ │ │ ├── link0.obj
│ │ │ ├── link1.dae
│ │ │ ├── link1.mtl
│ │ │ ├── link1.obj
│ │ │ ├── link2.dae
│ │ │ ├── link2.mtl
│ │ │ ├── link2.obj
│ │ │ ├── link3.dae
│ │ │ ├── link3.mtl
│ │ │ ├── link3.obj
│ │ │ ├── link4.dae
│ │ │ ├── link4.mtl
│ │ │ ├── link4.obj
│ │ │ ├── link5.dae
│ │ │ ├── link5.mtl
│ │ │ ├── link5.obj
│ │ │ ├── link6.dae
│ │ │ ├── link6.mtl
│ │ │ ├── link6.obj
│ │ │ ├── link7.dae
│ │ │ ├── link7.mtl
│ │ │ └── link7.obj
│ │ └── robots/
│ │ └── franka_panda.urdf
│ ├── kuka_allegro_description/
│ │ ├── allegro.urdf
│ │ ├── kuka.urdf
│ │ ├── kuka_allegro.urdf
│ │ └── meshes/
│ │ ├── allegro/
│ │ │ ├── base_link.STL
│ │ │ ├── base_link.obj
│ │ │ ├── primary_base.obj
│ │ │ ├── primary_base.stl
│ │ │ ├── primary_medial.obj
│ │ │ ├── primary_medial.stl
│ │ │ ├── primary_proximal.obj
│ │ │ ├── primary_proximal.stl
│ │ │ ├── thumb_base.obj
│ │ │ ├── thumb_base.stl
│ │ │ ├── thumb_medial.obj
│ │ │ ├── thumb_medial.stl
│ │ │ ├── thumb_proximal.obj
│ │ │ └── thumb_proximal.stl
│ │ ├── biotac/
│ │ │ ├── biotac_sensor.obj
│ │ │ ├── biotac_sensor.stl
│ │ │ ├── biotac_sensor_thumb.obj
│ │ │ └── biotac_sensor_thumb.stl
│ │ ├── convert_stl2obj.py
│ │ ├── iiwa7/
│ │ │ ├── collision/
│ │ │ │ ├── link_0.obj
│ │ │ │ ├── link_0.stl
│ │ │ │ ├── link_1.obj
│ │ │ │ ├── link_1.stl
│ │ │ │ ├── link_2.obj
│ │ │ │ ├── link_2.stl
│ │ │ │ ├── link_3.obj
│ │ │ │ ├── link_3.stl
│ │ │ │ ├── link_4.obj
│ │ │ │ ├── link_4.stl
│ │ │ │ ├── link_5.obj
│ │ │ │ ├── link_5.stl
│ │ │ │ ├── link_6.obj
│ │ │ │ ├── link_6.stl
│ │ │ │ ├── link_7.obj
│ │ │ │ ├── link_7.stl
│ │ │ │ ├── link_7_old.obj
│ │ │ │ └── link_7_old.stl
│ │ │ └── visual/
│ │ │ ├── link_0.obj
│ │ │ ├── link_0.stl
│ │ │ ├── link_1.obj
│ │ │ ├── link_1.stl
│ │ │ ├── link_2.obj
│ │ │ ├── link_2.stl
│ │ │ ├── link_3.obj
│ │ │ ├── link_3.stl
│ │ │ ├── link_4.obj
│ │ │ ├── link_4.stl
│ │ │ ├── link_5.obj
│ │ │ ├── link_5.stl
│ │ │ ├── link_6.obj
│ │ │ ├── link_6.stl
│ │ │ ├── link_7.obj
│ │ │ ├── link_7.stl
│ │ │ ├── link_7_old.obj
│ │ │ └── link_7_old.stl
│ │ └── mounts/
│ │ ├── allegro_mount.obj
│ │ └── allegro_mount.stl
│ ├── sektion_cabinet_model/
│ │ ├── CMakeLists.txt
│ │ ├── config/
│ │ │ └── sektion_cabinet_model.rviz
│ │ ├── launch/
│ │ │ ├── sektion_cabinet_joint_state_publisher.launch
│ │ │ └── sektion_cabinet_rviz.launch
│ │ ├── meshes/
│ │ │ ├── box.obj
│ │ │ ├── door_left.mtl
│ │ │ ├── door_left.obj
│ │ │ ├── door_left.obj.mtl
│ │ │ ├── door_left.stl
│ │ │ ├── door_left.wrl
│ │ │ ├── door_left_nob.obj
│ │ │ ├── door_left_nob.obj.mtl
│ │ │ ├── door_left_nob.stl
│ │ │ ├── door_left_nob.wrl
│ │ │ ├── door_right.mtl
│ │ │ ├── door_right.obj
│ │ │ ├── door_right.obj.mtl
│ │ │ ├── door_right.stl
│ │ │ ├── door_right.wrl
│ │ │ ├── door_right_nob.obj
│ │ │ ├── door_right_nob.obj.mtl
│ │ │ ├── door_right_nob.stl
│ │ │ ├── door_right_nob.wrl
│ │ │ ├── drawer.mtl
│ │ │ ├── drawer.obj
│ │ │ ├── drawer.obj.mtl
│ │ │ ├── drawer.stl
│ │ │ ├── drawer.wrl
│ │ │ ├── drawer_convexdecomposition.obj
│ │ │ ├── drawer_convexdecomposition.wrl
│ │ │ ├── drawer_convexdecomposition0.obj
│ │ │ ├── drawer_convexdecomposition1.obj
│ │ │ ├── drawer_convexdecomposition2.obj
│ │ │ ├── drawer_convexdecomposition3.obj
│ │ │ ├── drawer_convexdecomposition4.obj
│ │ │ ├── drawer_convexdecomposition5.obj
│ │ │ ├── drawer_convexdecomposition6.obj
│ │ │ ├── drawer_handle.obj
│ │ │ ├── drawer_handle.obj.mtl
│ │ │ ├── drawer_handle.stl
│ │ │ ├── drawer_handle.wrl
│ │ │ ├── drawer_handle_convexdecomposition.obj
│ │ │ ├── drawer_handle_convexdecomposition.wrl
│ │ │ ├── sektion.mtl
│ │ │ ├── sektion.obj
│ │ │ ├── sektion.obj.mtl
│ │ │ ├── sektion.stl
│ │ │ ├── sektion.wrl
│ │ │ ├── sektion_convexdecomposition.obj
│ │ │ ├── sektion_convexdecomposition.wrl
│ │ │ ├── sektion_convexdecomposition0.obj
│ │ │ ├── sektion_convexdecomposition1.obj
│ │ │ ├── sektion_convexdecomposition2.obj
│ │ │ ├── sektion_convexdecomposition3.obj
│ │ │ ├── sektion_convexdecomposition4.obj
│ │ │ ├── sektion_convexdecomposition5.obj
│ │ │ ├── sektion_convexdecomposition6.obj
│ │ │ ├── table_top.obj
│ │ │ ├── table_top.obj.mtl
│ │ │ ├── table_top.stl
│ │ │ ├── table_top.wrl
│ │ │ └── wavefront/
│ │ │ ├── door_left.obj
│ │ │ ├── door_left.wrl
│ │ │ ├── door_left_nob.obj
│ │ │ ├── door_left_nob.wrl
│ │ │ ├── door_right.obj
│ │ │ ├── door_right.wrl
│ │ │ ├── door_right_nob.obj
│ │ │ ├── door_right_nob.wrl
│ │ │ ├── drawer.obj
│ │ │ ├── drawer_handle.obj
│ │ │ ├── drawer_handle.wrl
│ │ │ ├── sektion.obj
│ │ │ ├── sektion.wrl
│ │ │ ├── table_top.obj
│ │ │ └── table_top.wrl
│ │ ├── package.xml
│ │ └── urdf/
│ │ ├── sektion_cabinet.urdf
│ │ └── sektion_cabinet_2.urdf
│ └── ycb/
│ ├── 010_potted_meat_can/
│ │ ├── 010_potted_meat_can.urdf
│ │ ├── collision.obj
│ │ ├── textured.mtl
│ │ └── textured.obj
│ ├── 011_banana/
│ │ ├── 011_banana.urdf
│ │ ├── collision.obj
│ │ ├── textured.mtl
│ │ └── textured.obj
│ └── 025_mug/
│ ├── 025_mug.urdf
│ ├── mug_collision.obj
│ ├── mug_collision_tw.obj
│ ├── mug_collision_vhacd.obj
│ ├── mug_visual.obj
│ ├── textured.mtl
│ └── textured.obj
├── configs/
│ ├── bc/
│ │ ├── real.yaml
│ │ ├── sim.yaml
│ │ └── task/
│ │ ├── FrankaPickPixels.yaml
│ │ └── FrankaReachPixels.yaml
│ └── ppo/
│ ├── config.yaml
│ ├── task/
│ │ ├── FrankaCabinet.yaml
│ │ ├── FrankaCabinetPixels.yaml
│ │ ├── FrankaMove.yaml
│ │ ├── FrankaMovePixels.yaml
│ │ ├── FrankaPick.yaml
│ │ ├── FrankaPickObject.yaml
│ │ ├── FrankaPickObjectPixels.yaml
│ │ ├── FrankaPickPixels.yaml
│ │ ├── FrankaReach.yaml
│ │ ├── FrankaReachPixels.yaml
│ │ ├── KukaCabinet.yaml
│ │ ├── KukaCabinetPixels.yaml
│ │ ├── KukaMove.yaml
│ │ ├── KukaMovePixels.yaml
│ │ ├── KukaPick.yaml
│ │ ├── KukaPickObject.yaml
│ │ ├── KukaPickObjectPixels.yaml
│ │ ├── KukaPickPixels.yaml
│ │ ├── KukaReach.yaml
│ │ └── KukaReachPixels.yaml
│ └── train/
│ ├── FrankaCabinet.yaml
│ ├── FrankaCabinetPixels.yaml
│ ├── FrankaMove.yaml
│ ├── FrankaMovePixels.yaml
│ ├── FrankaPick.yaml
│ ├── FrankaPickObject.yaml
│ ├── FrankaPickObjectPixels.yaml
│ ├── FrankaPickPixels.yaml
│ ├── FrankaReach.yaml
│ ├── FrankaReachPixels.yaml
│ ├── KukaCabinet.yaml
│ ├── KukaCabinetPixels.yaml
│ ├── KukaMove.yaml
│ ├── KukaMovePixels.yaml
│ ├── KukaPick.yaml
│ ├── KukaPickObject.yaml
│ ├── KukaPickObjectPixels.yaml
│ ├── KukaPickPixels.yaml
│ ├── KukaReach.yaml
│ └── KukaReachPixels.yaml
├── mvp/
│ ├── __init__.py
│ ├── backbones/
│ │ ├── __init__.py
│ │ ├── model_zoo.py
│ │ └── vit.py
│ ├── bc/
│ │ ├── __init__.py
│ │ ├── actor.py
│ │ ├── bc.py
│ │ ├── dataset.py
│ │ └── utils.py
│ ├── ppo/
│ │ ├── __init__.py
│ │ ├── actor_critic.py
│ │ ├── ppo.py
│ │ └── storage.py
│ └── utils/
│ ├── __init__.py
│ └── hydra_utils.py
├── pixmc/
│ ├── __init__.py
│ ├── tasks/
│ │ ├── __init__.py
│ │ ├── base/
│ │ │ ├── __init__.py
│ │ │ ├── base_task.py
│ │ │ └── vec_task.py
│ │ ├── franka_cabinet.py
│ │ ├── franka_move.py
│ │ ├── franka_pick.py
│ │ ├── franka_pick_object.py
│ │ ├── franka_reach.py
│ │ ├── kuka_cabinet.py
│ │ ├── kuka_move.py
│ │ ├── kuka_pick.py
│ │ ├── kuka_pick_object.py
│ │ └── kuka_reach.py
│ └── utils/
│ ├── __init__.py
│ └── torch_jit_utils.py
├── requirements.txt
├── setup.py
└── tools/
├── train_bc.py
└── train_ppo.py
SYMBOL INDEX (301 symbols across 25 files)
FILE: mvp/backbones/model_zoo.py
function _progress_bar (line 32) | def _progress_bar(count, total):
function download_url (line 48) | def download_url(url, dst_file_path, chunk_size=8192, progress_hook=_pro...
function cache_url (line 70) | def cache_url(model_name, url_or_file, cache_dir=_DOWNLOAD_CACHE, downlo...
function available_models (line 91) | def available_models():
function load (line 96) | def load(name):
FILE: mvp/backbones/vit.py
class VisionTransformer (line 19) | class VisionTransformer(timm.models.vision_transformer.VisionTransformer):
method __init__ (line 25) | def __init__(self, **kwargs):
method extract_feat (line 32) | def extract_feat(self, x):
method forward_norm (line 46) | def forward_norm(self, x):
method forward (line 49) | def forward(self, x):
method freeze (line 52) | def freeze(self):
function vit_s16 (line 72) | def vit_s16(pretrained, **kwargs):
function vit_b16 (line 85) | def vit_b16(pretrained, **kwargs):
function vit_l16 (line 98) | def vit_l16(pretrained, **kwargs):
function unwrap_model (line 111) | def unwrap_model(model):
function load_checkpoint (line 117) | def load_checkpoint(checkpoint_file, model):
FILE: mvp/bc/actor.py
class Encoder (line 31) | class Encoder(nn.Module):
method __init__ (line 33) | def __init__(self, model_name, pretrain_dir, freeze, emb_dim):
method forward_feat_norm (line 45) | def forward_feat_norm(self, x):
method forward_projector (line 49) | def forward_projector(self, x):
method forward (line 52) | def forward(self, x):
class PixelActor (line 61) | class PixelActor(nn.Module):
method __init__ (line 63) | def __init__(self, state_dim, action_dim, encoder_cfg, policy_cfg):
method init_weights (line 105) | def init_weights(sequential, scales, init_method):
method forward (line 120) | def forward(self, images, states):
FILE: mvp/bc/bc.py
function get_optimizer_groups (line 29) | def get_optimizer_groups(model, default_wd):
function test_env (line 70) | def test_env(cfg, vec_env, model, writer, cur_epoch):
function test_epoch (line 124) | def test_epoch(cfg, test_loader, model, writer, cur_epoch):
function train_epoch (line 138) | def train_epoch(cfg, train_loader, model, optimizer, writer, cur_epoch):
function train (line 165) | def train(cfg, vec_env):
FILE: mvp/bc/dataset.py
function lower_center_crop (line 24) | def lower_center_crop(im, crop_size):
function lower_random_shift_crop (line 31) | def lower_random_shift_crop(im, crop_size, max_shift):
function resize_crop (line 41) | def resize_crop(im, size, max_shift=0, lower_crop=True):
function color_norm (line 58) | def color_norm(im, mean, std):
function color_unnorm (line 65) | def color_unnorm(im, mean, std):
function normalize (line 72) | def normalize(im):
function unnormalize (line 83) | def unnormalize(im):
class GaussianBlur (line 94) | class GaussianBlur(object):
method __init__ (line 97) | def __init__(self, sigma=(.1, 2.)):
method __call__ (line 100) | def __call__(self, x):
class RealDemoDataset (line 106) | class RealDemoDataset(torch.utils.data.Dataset):
method __init__ (line 109) | def __init__(
method _scale_joint (line 145) | def _scale_joint(self, joints):
method _compute_joint_state (line 148) | def _compute_joint_state(self, obs_t):
method _compute_joint_action (line 153) | def _compute_joint_action(self, obs_t, obs_t1):
method _filter_demo (line 165) | def _filter_demo(self, demo, pos_filter_thres=0.004):
method _construct (line 176) | def _construct(self):
method process_image (line 233) | def process_image(self, im):
method __getitem__ (line 241) | def __getitem__(self, ind):
method __len__ (line 251) | def __len__(self):
class SimDemoDataset (line 255) | class SimDemoDataset(torch.utils.data.Dataset):
method __init__ (line 258) | def __init__(
method _construct (line 271) | def _construct(self):
method __getitem__ (line 301) | def __getitem__(self, ind):
method __len__ (line 309) | def __len__(self):
FILE: mvp/bc/utils.py
class AverageMeter (line 11) | class AverageMeter(object):
method __init__ (line 13) | def __init__(self, name, fmt=":f"):
method reset (line 18) | def reset(self):
method update (line 24) | def update(self, val, n=1):
method __str__ (line 30) | def __str__(self):
function adjust_lr (line 35) | def adjust_lr(optimizer, base_lr, cur_epoch, warmup_epoch, num_epoch):
function save_checkpoint (line 45) | def save_checkpoint(out_dir, model, cur_epoch):
function save_best_checkpoint (line 55) | def save_best_checkpoint(out_dir, model, cur_epoch, best_loss):
function load_checkpoint (line 66) | def load_checkpoint(file_path, model):
FILE: mvp/ppo/actor_critic.py
class ActorCritic (line 19) | class ActorCritic(nn.Module):
method __init__ (line 21) | def __init__(
method init_weights (line 76) | def init_weights(sequential, scales):
method act (line 81) | def act(self, observations, states):
method act_inference (line 102) | def act_inference(self, observations, states=None):
method forward (line 106) | def forward(self, observations, states, actions):
class Encoder (line 138) | class Encoder(nn.Module):
method __init__ (line 140) | def __init__(self, model_name, pretrain_dir, freeze, emb_dim):
method forward (line 153) | def forward(self, x):
method forward_feat (line 157) | def forward_feat(self, feat):
class PixelActorCritic (line 161) | class PixelActorCritic(nn.Module):
method __init__ (line 163) | def __init__(
method init_weights (line 236) | def init_weights(sequential, scales):
method act (line 245) | def act(self, observations, states):
method act_inference (line 270) | def act_inference(self, observations, states):
method forward (line 277) | def forward(self, obs_features, states, actions):
FILE: mvp/ppo/ppo.py
class PPO (line 22) | class PPO:
method __init__ (line 24) | def __init__(
method test (line 134) | def test(self, path):
method load (line 140) | def load(self, path):
method save (line 145) | def save(self, path):
method run (line 148) | def run(self, num_learning_iterations, log_interval=1):
method log (line 275) | def log(
method update (line 334) | def update(self, cur_iter, max_iter):
method adjust_learning_rate_cos (line 397) | def adjust_learning_rate_cos(self, optimizer, epoch, max_epoch, iter, ...
FILE: mvp/ppo/storage.py
class RolloutStorage (line 12) | class RolloutStorage:
method __init__ (line 14) | def __init__(
method add_transitions (line 48) | def add_transitions(self, observations, states, actions, rewards, done...
method clear (line 68) | def clear(self):
method compute_returns (line 71) | def compute_returns(self, last_values, gamma, lam):
method get_statistics (line 87) | def get_statistics(self):
method mini_batch_generator (line 97) | def mini_batch_generator(self, num_mini_batches):
FILE: mvp/utils/hydra_utils.py
function omegaconf_to_dict (line 50) | def omegaconf_to_dict(d: DictConfig) -> Dict:
function print_dict (line 61) | def print_dict(val, nesting: int = -4, start: bool = True):
function set_np_formatting (line 75) | def set_np_formatting():
function set_seed (line 81) | def set_seed(seed, torch_deterministic=False):
function parse_sim_params (line 108) | def parse_sim_params(cfg, cfg_dict):
function parse_task (line 146) | def parse_task(cfg, cfg_dict, sim_params):
function process_ppo (line 172) | def process_ppo(env, cfg, cfg_dict, logdir, cptdir):
function dump_cfg (line 225) | def dump_cfg(cfg, logdir):
FILE: pixmc/tasks/base/base_task.py
class BaseTask (line 22) | class BaseTask():
method __init__ (line 24) | def __init__(self, cfg, enable_camera_sensors=False):
method set_sim_params_up_axis (line 115) | def set_sim_params_up_axis(self, sim_params, axis):
method create_sim (line 124) | def create_sim(self, compute_device, graphics_device, physics_engine, ...
method step (line 132) | def step(self, actions):
method get_states (line 154) | def get_states(self):
method render (line 157) | def render(self, sync_frame_time=False):
method get_actor_params_info (line 184) | def get_actor_params_info(self, dr_params, env):
method apply_randomizations (line 222) | def apply_randomizations(self, dr_params):
method pre_physics_step (line 418) | def pre_physics_step(self, actions):
method post_physics_step (line 421) | def post_physics_step(self):
function get_attr_val_from_sample (line 425) | def get_attr_val_from_sample(sample, offset, prop, attr):
FILE: pixmc/tasks/base/vec_task.py
class VecTask (line 17) | class VecTask():
method __init__ (line 18) | def __init__(self, task, rl_device, clip_observations=5.0, clip_action...
method step (line 37) | def step(self, actions):
method reset (line 40) | def reset(self):
method get_number_of_agents (line 43) | def get_number_of_agents(self):
method observation_space (line 47) | def observation_space(self):
method action_space (line 51) | def action_space(self):
method num_envs (line 55) | def num_envs(self):
method num_acts (line 59) | def num_acts(self):
method num_obs (line 63) | def num_obs(self):
class VecTaskCPU (line 68) | class VecTaskCPU(VecTask):
method __init__ (line 69) | def __init__(self, task, rl_device, sync_frame_time=False, clip_observ...
method step (line 73) | def step(self, actions):
method reset (line 83) | def reset(self):
class VecTaskGPU (line 93) | class VecTaskGPU(VecTask):
method __init__ (line 94) | def __init__(self, task, rl_device, clip_observations=5.0, clip_action...
method step (line 101) | def step(self, actions):
method reset (line 110) | def reset(self):
class VecTaskPython (line 121) | class VecTaskPython(VecTask):
method get_state (line 123) | def get_state(self):
method step (line 126) | def step(self, actions):
method reset (line 133) | def reset(self):
FILE: pixmc/tasks/franka_cabinet.py
class FrankaCabinet (line 21) | class FrankaCabinet(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 168) | def create_sim(self):
method _create_ground_plane (line 178) | def _create_ground_plane(self):
method _create_envs (line 183) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 372) | def init_grasp_pose(self):
method compute_reward (line 396) | def compute_reward(self, actions):
method reset (line 405) | def reset(self, env_ids):
method pre_physics_step (line 483) | def pre_physics_step(self, actions):
method compute_task_state (line 492) | def compute_task_state(self):
method compute_robot_state (line 511) | def compute_robot_state(self):
method compute_robot_obs (line 520) | def compute_robot_obs(self):
method compute_oracle_obs (line 524) | def compute_oracle_obs(self):
method compute_pixel_obs (line 531) | def compute_pixel_obs(self):
method post_physics_step (line 541) | def post_physics_step(self):
function compute_franka_reward (line 560) | def compute_franka_reward(
FILE: pixmc/tasks/franka_move.py
class FrankaMove (line 21) | class FrankaMove(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 156) | def create_sim(self):
method _create_ground_plane (line 166) | def _create_ground_plane(self):
method _create_envs (line 171) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 349) | def init_grasp_pose(self):
method compute_reward (line 363) | def compute_reward(self, actions):
method reset (line 372) | def reset(self, env_ids):
method pre_physics_step (line 454) | def pre_physics_step(self, actions):
method compute_task_state (line 463) | def compute_task_state(self):
method compute_robot_state (line 477) | def compute_robot_state(self):
method compute_robot_obs (line 486) | def compute_robot_obs(self):
method compute_oracle_obs (line 490) | def compute_oracle_obs(self):
method compute_pixel_obs (line 497) | def compute_pixel_obs(self):
method post_physics_step (line 507) | def post_physics_step(self):
function compute_franka_reward (line 526) | def compute_franka_reward(
FILE: pixmc/tasks/franka_pick.py
class FrankaPick (line 21) | class FrankaPick(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 154) | def create_sim(self):
method _create_ground_plane (line 164) | def _create_ground_plane(self):
method _create_envs (line 169) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 328) | def init_grasp_pose(self):
method compute_reward (line 342) | def compute_reward(self, actions):
method reset (line 351) | def reset(self, env_ids):
method pre_physics_step (line 411) | def pre_physics_step(self, actions):
method compute_task_state (line 420) | def compute_task_state(self):
method compute_robot_state (line 433) | def compute_robot_state(self):
method compute_robot_obs (line 442) | def compute_robot_obs(self):
method compute_oracle_obs (line 446) | def compute_oracle_obs(self):
method compute_pixel_obs (line 453) | def compute_pixel_obs(self):
method post_physics_step (line 463) | def post_physics_step(self):
function compute_franka_reward (line 482) | def compute_franka_reward(
FILE: pixmc/tasks/franka_pick_object.py
class FrankaPickObject (line 21) | class FrankaPickObject(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 175) | def create_sim(self):
method _create_ground_plane (line 185) | def _create_ground_plane(self):
method _create_envs (line 190) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 358) | def init_grasp_pose(self):
method compute_reward (line 372) | def compute_reward(self, actions):
method reset (line 381) | def reset(self, env_ids):
method pre_physics_step (line 441) | def pre_physics_step(self, actions):
method compute_task_state (line 450) | def compute_task_state(self):
method compute_robot_state (line 463) | def compute_robot_state(self):
method compute_robot_obs (line 472) | def compute_robot_obs(self):
method compute_oracle_obs (line 476) | def compute_oracle_obs(self):
method compute_pixel_obs (line 483) | def compute_pixel_obs(self):
method post_physics_step (line 493) | def post_physics_step(self):
function compute_franka_reward (line 512) | def compute_franka_reward(
FILE: pixmc/tasks/franka_reach.py
class FrankaReach (line 21) | class FrankaReach(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 146) | def create_sim(self):
method _create_ground_plane (line 156) | def _create_ground_plane(self):
method _create_envs (line 161) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 320) | def init_grasp_pose(self):
method compute_reward (line 334) | def compute_reward(self, actions):
method reset (line 341) | def reset(self, env_ids):
method pre_physics_step (line 401) | def pre_physics_step(self, actions):
method compute_task_state (line 410) | def compute_task_state(self):
method compute_robot_state (line 423) | def compute_robot_state(self):
method compute_robot_obs (line 432) | def compute_robot_obs(self):
method compute_oracle_obs (line 436) | def compute_oracle_obs(self):
method compute_pixel_obs (line 442) | def compute_pixel_obs(self):
method post_physics_step (line 452) | def post_physics_step(self):
function compute_franka_reward (line 471) | def compute_franka_reward(
FILE: pixmc/tasks/kuka_cabinet.py
class KukaCabinet (line 21) | class KukaCabinet(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 185) | def create_sim(self):
method _create_ground_plane (line 195) | def _create_ground_plane(self):
method _create_envs (line 200) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 415) | def init_grasp_pose(self):
method compute_reward (line 454) | def compute_reward(self, actions):
method reset (line 465) | def reset(self, env_ids):
method pre_physics_step (line 543) | def pre_physics_step(self, actions):
method compute_task_state (line 552) | def compute_task_state(self):
method compute_robot_state (line 582) | def compute_robot_state(self):
method compute_robot_obs (line 591) | def compute_robot_obs(self):
method compute_oracle_obs (line 595) | def compute_oracle_obs(self):
method compute_pixel_obs (line 605) | def compute_pixel_obs(self):
method post_physics_step (line 615) | def post_physics_step(self):
function compute_kuka_reward (line 634) | def compute_kuka_reward(
FILE: pixmc/tasks/kuka_move.py
class KukaMove (line 21) | class KukaMove(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 173) | def create_sim(self):
method _create_ground_plane (line 183) | def _create_ground_plane(self):
method _create_envs (line 188) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 388) | def init_grasp_pose(self):
method compute_reward (line 417) | def compute_reward(self, actions):
method reset (line 427) | def reset(self, env_ids):
method pre_physics_step (line 509) | def pre_physics_step(self, actions):
method compute_task_state (line 518) | def compute_task_state(self):
method compute_robot_state (line 541) | def compute_robot_state(self):
method compute_robot_obs (line 550) | def compute_robot_obs(self):
method compute_oracle_obs (line 554) | def compute_oracle_obs(self):
method compute_pixel_obs (line 564) | def compute_pixel_obs(self):
method post_physics_step (line 574) | def post_physics_step(self):
function compute_kuka_reward (line 593) | def compute_kuka_reward(
FILE: pixmc/tasks/kuka_pick.py
class KukaPick (line 21) | class KukaPick(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 171) | def create_sim(self):
method _create_ground_plane (line 181) | def _create_ground_plane(self):
method _create_envs (line 186) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 366) | def init_grasp_pose(self):
method compute_reward (line 395) | def compute_reward(self, actions):
method reset (line 405) | def reset(self, env_ids):
method pre_physics_step (line 465) | def pre_physics_step(self, actions):
method compute_task_state (line 474) | def compute_task_state(self):
method compute_robot_state (line 497) | def compute_robot_state(self):
method compute_robot_obs (line 506) | def compute_robot_obs(self):
method compute_oracle_obs (line 510) | def compute_oracle_obs(self):
method compute_pixel_obs (line 520) | def compute_pixel_obs(self):
method post_physics_step (line 530) | def post_physics_step(self):
function compute_kuka_reward (line 549) | def compute_kuka_reward(
FILE: pixmc/tasks/kuka_pick_object.py
class KukaPickObject (line 21) | class KukaPickObject(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 192) | def create_sim(self):
method _create_ground_plane (line 202) | def _create_ground_plane(self):
method _create_envs (line 207) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 396) | def init_grasp_pose(self):
method compute_reward (line 425) | def compute_reward(self, actions):
method reset (line 435) | def reset(self, env_ids):
method pre_physics_step (line 495) | def pre_physics_step(self, actions):
method compute_task_state (line 504) | def compute_task_state(self):
method compute_robot_state (line 527) | def compute_robot_state(self):
method compute_robot_obs (line 536) | def compute_robot_obs(self):
method compute_oracle_obs (line 540) | def compute_oracle_obs(self):
method compute_pixel_obs (line 550) | def compute_pixel_obs(self):
method post_physics_step (line 560) | def post_physics_step(self):
function compute_kuka_reward (line 579) | def compute_kuka_reward(
FILE: pixmc/tasks/kuka_reach.py
class KukaReach (line 21) | class KukaReach(BaseTask):
method __init__ (line 23) | def __init__(self, cfg, sim_params, physics_engine, device_type, devic...
method create_sim (line 148) | def create_sim(self):
method _create_ground_plane (line 158) | def _create_ground_plane(self):
method _create_envs (line 163) | def _create_envs(self, num_envs, spacing, num_per_row):
method init_grasp_pose (line 339) | def init_grasp_pose(self):
method compute_reward (line 350) | def compute_reward(self, actions):
method reset (line 357) | def reset(self, env_ids):
method pre_physics_step (line 417) | def pre_physics_step(self, actions):
method compute_task_state (line 426) | def compute_task_state(self):
method compute_robot_state (line 433) | def compute_robot_state(self):
method compute_robot_obs (line 442) | def compute_robot_obs(self):
method compute_oracle_obs (line 446) | def compute_oracle_obs(self):
method compute_pixel_obs (line 452) | def compute_pixel_obs(self):
method post_physics_step (line 462) | def post_physics_step(self):
function compute_kuka_reward (line 481) | def compute_kuka_reward(
FILE: pixmc/utils/torch_jit_utils.py
function quat_axis (line 11) | def quat_axis(q, axis=0):
FILE: tools/train_bc.py
function train (line 17) | def train(cfg: omegaconf.DictConfig):
FILE: tools/train_ppo.py
function train (line 16) | def train(cfg: omegaconf.DictConfig):
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Condensed preview — 297 files, each showing path, character count, and a content snippet. Download the .json file for the full structured content (63,536K chars).
[
{
"path": ".gitignore",
"chars": 277,
"preview": "# Byte-compiled / optimized / DLL files\n__pycache__/\n*.py[cod]\n*$py.class\n\n# Shared objects\n*.so\n\n# Distribution / packa"
},
{
"path": "GETTING_STARTED.md",
"chars": 1806,
"preview": "## Getting Started\n\nThis document provides brief installation and training instructions.\n\n- For general information, ple"
},
{
"path": "README.md",
"chars": 3378,
"preview": "## Masked Visual Pre-training for Robotics\n\n<div align=\"center\">\n <image src=\"assets/figs/teaser_real.png\" width=\"720px"
},
{
"path": "TASKS.md",
"chars": 12189,
"preview": "# PixMC Benchmark Suite\n\n**Robots:**\n\n- [Franka](TASKS.md#franka-robot)\n- [Kuka](TASKS.md#kuka-robot)\n\n**Tasks:**\n\n- [Fr"
},
{
"path": "assets/licenses/franka-LICENSE.txt",
"chars": 10316,
"preview": "Apache License\r\n Version 2.0, January 2004\r\n http://www.apache.org/lice"
},
{
"path": "assets/licenses/kukaiiwa-LICENSE.txt",
"chars": 1749,
"preview": "BSD 2-Clause License\r\n\r\nCopyright (c) 2016-2019, Salvatore Virga - salvo.virga@tum.de, Marco Esposito - marco.esposito@t"
},
{
"path": "assets/licenses/ycb-LICENSE.txt",
"chars": 3113,
"preview": "YCB models are licensed under the following term:\n\nThe YCB Object and Model Set: Towards Common Benchmarks for Manipulat"
},
{
"path": "assets/urdf/franka_description/meshes/collision/finger.obj",
"chars": 4205,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object finger.obj\r\n#\r\n# Vertices: 52\r\n# Faces: 32\r\n#\r\n####\r\nvn 0.99"
},
{
"path": "assets/urdf/franka_description/meshes/collision/hand.obj",
"chars": 18393,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object hand.obj\r\n#\r\n# Vertices: 203\r\n# Faces: 200\r\n#\r\n####\r\nvn 0.67"
},
{
"path": "assets/urdf/franka_description/meshes/collision/link0.obj",
"chars": 16592,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object link0.obj\r\n#\r\n# Vertices: 176\r\n# Faces: 200\r\n#\r\n####\r\nvn -0."
},
{
"path": "assets/urdf/franka_description/meshes/collision/link1.obj",
"chars": 20865,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object link1.obj\r\n#\r\n# Vertices: 198\r\n# Faces: 300\r\n#\r\n####\r\nvn 0.9"
},
{
"path": "assets/urdf/franka_description/meshes/collision/link2.obj",
"chars": 20791,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object link2.obj\r\n#\r\n# Vertices: 200\r\n# Faces: 300\r\n#\r\n####\r\nvn 0.9"
},
{
"path": "assets/urdf/franka_description/meshes/collision/link3.obj",
"chars": 20385,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object link3.obj\r\n#\r\n# Vertices: 193\r\n# Faces: 300\r\n#\r\n####\r\nvn 0.0"
},
{
"path": "assets/urdf/franka_description/meshes/collision/link4.obj",
"chars": 20504,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object link4.obj\r\n#\r\n# Vertices: 193\r\n# Faces: 300\r\n#\r\n####\r\nvn 0.4"
},
{
"path": "assets/urdf/franka_description/meshes/collision/link5.obj",
"chars": 21313,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object link5.obj\r\n#\r\n# Vertices: 206\r\n# Faces: 300\r\n#\r\n####\r\nvn -0."
},
{
"path": "assets/urdf/franka_description/meshes/collision/link6.obj",
"chars": 14325,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object link6.obj\r\n#\r\n# Vertices: 143\r\n# Faces: 200\r\n#\r\n####\r\nvn -0."
},
{
"path": "assets/urdf/franka_description/meshes/collision/link7.obj",
"chars": 16747,
"preview": "####\r\n#\r\n# OBJ File Generated by Meshlab\r\n#\r\n####\r\n# Object link7.obj\r\n#\r\n# Vertices: 180\r\n# Faces: 200\r\n#\r\n####\r\nvn -0."
},
{
"path": "assets/urdf/franka_description/meshes/collision/stltoobj.bat",
"chars": 271,
"preview": "REM SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/\nREM forfiles /m *.dae /c \"cmd /c assimp export @file @fname.obj --verbose -"
},
{
"path": "assets/urdf/franka_description/meshes/collision/stltoobj.mlx",
"chars": 1523,
"preview": "<!DOCTYPE FilterScript>\n<FilterScript>\n <filter name=\"Remove Duplicate Vertices\"/>\n <filter name=\"Split Vertexes Inciden"
},
{
"path": "assets/urdf/franka_description/meshes/visual/daetoobj.bat",
"chars": 257,
"preview": "SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/\nforfiles /m *.dae /c \"cmd /c assimp export @file @fname.obj --verbose --show-lo"
},
{
"path": "assets/urdf/franka_description/meshes/visual/daetoobj.mlx",
"chars": 111,
"preview": "<!DOCTYPE FilterScript>\n<FilterScript>\n <filter name=\"Convert PerWedge UV into PerVertex UV\"/>\n</FilterScript>\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/finger.dae",
"chars": 51298,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/finger.mtl",
"chars": 430,
"preview": "# Blender MTL File: 'None'\n# Material Count: 2\n\nnewmtl Part__Feature001_006\nNs -1.960784\nKa 1.000000 1.000000 1.000000\nK"
},
{
"path": "assets/urdf/franka_description/meshes/visual/finger.obj",
"chars": 48085,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib finger.mtl\no node1_Part__Feature001.006\nv -0.000900 0.0483"
},
{
"path": "assets/urdf/franka_description/meshes/visual/hand.dae",
"chars": 549346,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/hand.mtl",
"chars": 1033,
"preview": "# Blender MTL File: 'None'\n# Material Count: 5\n\nnewmtl Part__Feature001_008_005\nNs -1.960784\nKa 1.000000 1.000000 1.0000"
},
{
"path": "assets/urdf/franka_description/meshes/visual/hand.obj",
"chars": 483975,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib hand.mtl\no node5_001_Part__Feature005.000\nv 0.015255 0.026"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link0.dae",
"chars": 1591811,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link0.mtl",
"chars": 2304,
"preview": "# Blender MTL File: 'None'\n# Material Count: 12\n\nnewmtl Face636_001\nNs -1.960784\nKa 1.000000 1.000000 1.000000\nKd 0.9019"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link0.obj",
"chars": 1442561,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib link0.mtl\no node11_Shell010.001\nv -0.023054 0.042429 -0.06"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link1.dae",
"chars": 978516,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link1.mtl",
"chars": 237,
"preview": "# Blender MTL File: 'None'\n# Material Count: 1\n\nnewmtl Part__Feature_001\nNs -1.960784\nKa 1.000000 1.000000 1.000000\nKd 1"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link1.obj",
"chars": 777412,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib link1.mtl\no node0_Part__Feature.001\nv 0.012617 -0.033973 0"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link2.dae",
"chars": 998587,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link2.mtl",
"chars": 236,
"preview": "# Blender MTL File: 'None'\n# Material Count: 1\n\nnewmtl Part__Feature024\nNs -1.960784\nKa 1.000000 1.000000 1.000000\nKd 1."
},
{
"path": "assets/urdf/franka_description/meshes/visual/link2.obj",
"chars": 783731,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib link2.mtl\no node0_Part__Feature024\nv -0.049679 -0.003474 0"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link3.dae",
"chars": 1099974,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link3.mtl",
"chars": 868,
"preview": "# Blender MTL File: 'None'\n# Material Count: 4\n\nnewmtl Part__Feature001_010_001_002.001\nNs -1.960784\nKa 1.000000 1.00000"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link3.obj",
"chars": 910167,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib link3.mtl\no node3_Part__Feature003.000\nv 0.051797 0.045648"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link4.dae",
"chars": 1145814,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link4.mtl",
"chars": 848,
"preview": "# Blender MTL File: 'None'\n# Material Count: 4\n\nnewmtl Part__Feature001_001_003_001\nNs -1.960784\nKa 1.000000 1.000000 1."
},
{
"path": "assets/urdf/franka_description/meshes/visual/link4.obj",
"chars": 939686,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib link4.mtl\no node3_Part__Feature001.003\nv -0.012555 0.00050"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link5.dae",
"chars": 1438422,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link5.mtl",
"chars": 628,
"preview": "# Blender MTL File: 'None'\n# Material Count: 3\n\nnewmtl Part__Feature_002_004_003\nNs -1.960784\nKa 1.000000 1.000000 1.000"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link5.obj",
"chars": 1186728,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib link5.mtl\no node2_Shell001.004\nv 0.015985 -0.131594 -0.098"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link6.dae",
"chars": 1729056,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link6.mtl",
"chars": 3387,
"preview": "# Blender MTL File: 'None'\n# Material Count: 17\n\nnewmtl Face064_002_001_002_001\nNs -1.960784\nKa 1.000000 1.000000 1.0000"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link6.obj",
"chars": 1547955,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib link6.mtl\no node0_001_Shell006.000\nv -0.036565 -0.014800 0"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link7.dae",
"chars": 936575,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\r\n"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link7.mtl",
"chars": 1636,
"preview": "# Blender MTL File: 'None'\n# Material Count: 8\n\nnewmtl Part__Mirroring001_004_002\nNs -1.960784\nKa 1.000000 1.000000 1.00"
},
{
"path": "assets/urdf/franka_description/meshes/visual/link7.obj",
"chars": 868368,
"preview": "# Blender v2.79 (sub 0) OBJ File: ''\n# www.blender.org\nmtllib link7.mtl\no node4_Part__Mirroring004.001\nv -0.013294 0.078"
},
{
"path": "assets/urdf/franka_description/robots/franka_panda.urdf",
"chars": 8290,
"preview": "<?xml version=\"1.0\" ?>\n<robot name=\"panda\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\">\n <link name=\"panda_link0\">\n "
},
{
"path": "assets/urdf/kuka_allegro_description/allegro.urdf",
"chars": 18426,
"preview": "<?xml version=\"1.0\" ?>\n<!-- =================================================================================== -->\n<!--"
},
{
"path": "assets/urdf/kuka_allegro_description/kuka.urdf",
"chars": 14904,
"preview": "<?xml version=\"1.0\" ?>\n<!-- =================================================================================== -->\n<!--"
},
{
"path": "assets/urdf/kuka_allegro_description/kuka_allegro.urdf",
"chars": 34423,
"preview": "<?xml version=\"1.0\" ?>\n<!-- This file was autogenerated but we have modified quite a bit\nAuthors: Karl, Ankur\n\nKarl did "
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/allegro/base_link.obj",
"chars": 327925,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object base_link.obj\n#\n# Vertices: 9048\n# Faces: 3016\n#\n####\nv 0.033337 "
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/allegro/primary_base.obj",
"chars": 22422,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object primary_base.obj\n#\n# Vertices: 636\n# Faces: 212\n#\n####\nv 0.005133"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/allegro/primary_medial.obj",
"chars": 133905,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object primary_medial.obj\n#\n# Vertices: 3756\n# Faces: 1252\n#\n####\nv 0.04"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/allegro/primary_proximal.obj",
"chars": 185973,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object primary_proximal.obj\n#\n# Vertices: 5196\n# Faces: 1732\n#\n####\nv 0."
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/allegro/thumb_base.obj",
"chars": 116245,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object thumb_base.obj\n#\n# Vertices: 3228\n# Faces: 1076\n#\n####\nv -0.00480"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/allegro/thumb_medial.obj",
"chars": 134241,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object thumb_medial.obj\n#\n# Vertices: 3756\n# Faces: 1252\n#\n####\nv 0.0086"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/allegro/thumb_proximal.obj",
"chars": 22107,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object thumb_proximal.obj\n#\n# Vertices: 636\n# Faces: 212\n#\n####\nv -0.013"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/biotac/biotac_sensor.obj",
"chars": 557702,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object biotac_sensor.obj\n#\n# Vertices: 15510\n# Faces: 5170\n#\n####\nv 0.00"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/biotac/biotac_sensor_thumb.obj",
"chars": 644099,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object biotac_sensor_thumb.obj\n#\n# Vertices: 17850\n# Faces: 5950\n#\n####\n"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/convert_stl2obj.py",
"chars": 530,
"preview": "import os\nimport argparse \n\nparser = argparse.ArgumentParser()\nparser.add_argument('--folder', type=str, default=\"./\")\na"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/collision/link_0.obj",
"chars": 1013429,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_0.obj\n#\n# Vertices: 27891\n# Faces: 9297\n#\n####\nv -0.108000 0"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/collision/link_1.obj",
"chars": 418511,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_1.obj\n#\n# Vertices: 11616\n# Faces: 3872\n#\n####\nv -0.025000 -"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/collision/link_2.obj",
"chars": 916359,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_2.obj\n#\n# Vertices: 25326\n# Faces: 8442\n#\n####\nv 0.019151 0."
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/collision/link_3.obj",
"chars": 494484,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_3.obj\n#\n# Vertices: 13860\n# Faces: 4620\n#\n####\nv 0.035437 -0"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/collision/link_4.obj",
"chars": 921180,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_4.obj\n#\n# Vertices: 25434\n# Faces: 8478\n#\n####\nv -0.019151 0"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/collision/link_5.obj",
"chars": 471566,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_5.obj\n#\n# Vertices: 13242\n# Faces: 4414\n#\n####\nv 0.039470 -0"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/collision/link_6.obj",
"chars": 1055648,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_6.obj\n#\n# Vertices: 29070\n# Faces: 9690\n#\n####\nv -0.000000 -"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/collision/link_7.obj",
"chars": 2178842,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_7.obj\n#\n# Vertices: 59934\n# Faces: 19978\n#\n####\nv -0.006033 "
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/collision/link_7_old.obj",
"chars": 1427091,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_7_old.obj\n#\n# Vertices: 39216\n# Faces: 13072\n#\n####\nv 0.0161"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/visual/link_0.obj",
"chars": 3919382,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_0.obj\n#\n# Vertices: 106932\n# Faces: 35644\n#\n####\nv -0.108000"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/visual/link_1.obj",
"chars": 1023264,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_1.obj\n#\n# Vertices: 27954\n# Faces: 9318\n#\n####\nv -0.000000 0"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/visual/link_2.obj",
"chars": 2905281,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_2.obj\n#\n# Vertices: 79674\n# Faces: 26558\n#\n####\nv 0.023492 0"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/visual/link_3.obj",
"chars": 1142700,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_3.obj\n#\n# Vertices: 31692\n# Faces: 10564\n#\n####\nv 0.035437 -"
},
{
"path": "assets/urdf/kuka_allegro_description/meshes/iiwa7/visual/link_4.obj",
"chars": 2906513,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object link_4.obj\n#\n# Vertices: 79668\n# Faces: 26556\n#\n####\nv -0.023492 "
},
{
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"path": "assets/urdf/sektion_cabinet_model/urdf/sektion_cabinet.urdf",
"chars": 17016,
"preview": "<?xml version=\"1.0\"?>\n<robot name=\"cabinet_sektion\">\n <material name=\"White\"><color rgba=\"0.85 0.85 0.85 1.0\"/></materi"
},
{
"path": "assets/urdf/sektion_cabinet_model/urdf/sektion_cabinet_2.urdf",
"chars": 19753,
"preview": "<?xml version=\"1.0\"?>\n<robot name=\"cabinet_sektion\">\n <material name=\"White\"><color rgba=\"0.85 0.85 0.85 1.0\"/></materi"
},
{
"path": "assets/urdf/ycb/010_potted_meat_can/010_potted_meat_can.urdf",
"chars": 698,
"preview": "<?xml version=\"1.0\"?>\n<robot name=\"potted_meat_can\">\n <link name=\"potted_meat_can\">\n <visual>\n <origin xyz=\"0.0"
},
{
"path": "assets/urdf/ycb/010_potted_meat_can/collision.obj",
"chars": 2802,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object collision.obj\n#\n# Vertices: 52\n# Faces: 100\n#\n####\nv -3.802714 -3"
},
{
"path": "assets/urdf/ycb/010_potted_meat_can/textured.mtl",
"chars": 260,
"preview": "#\n# Wavefront material file\n# Converted by Meshlab Group\n#\n\nnewmtl material_0\nKa 0.200000 0.200000 0.200000\nKd 0.752941 "
},
{
"path": "assets/urdf/ycb/010_potted_meat_can/textured.obj",
"chars": 1368823,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object textured.obj\n#\n# Vertices: 7130\n# Faces: 12921\n#\n####\nmtllib ./te"
},
{
"path": "assets/urdf/ycb/011_banana/011_banana.urdf",
"chars": 586,
"preview": "<?xml version=\"1.0\"?>\n<robot name=\"banana\">\n <link name=\"banana\">\n <visual>\n <origin xyz=\"0.0 0.0 0.0\"/>\n "
},
{
"path": "assets/urdf/ycb/011_banana/collision.obj",
"chars": 9554,
"preview": "v -3.489367029208955 -4.593850113870038 0.3420128040217412\nv -3.152295304664408 -4.412521288191765 -0.9511216728314373\nv"
},
{
"path": "assets/urdf/ycb/011_banana/textured.mtl",
"chars": 242,
"preview": "#\n# Wavefront material file\n# Converted by Meshlab Group\n#\n\nnewmtl material_0\nKa 0.200000 0.200000 0.200000\nKd 0.752941 "
},
{
"path": "assets/urdf/ycb/011_banana/textured.obj",
"chars": 676890,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object textured.obj\n#\n# Vertices: 3534\n# Faces: 6506\n#\n####\nmtllib ./tex"
},
{
"path": "assets/urdf/ycb/025_mug/025_mug.urdf",
"chars": 578,
"preview": "<?xml version=\"1.0\"?>\n<robot name=\"mug\">\n <link name=\"mug\">\n <visual>\n <origin xyz=\"0.0 0.0 0.0\"/>\n <geome"
},
{
"path": "assets/urdf/ycb/025_mug/mug_collision.obj",
"chars": 22695,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object mug_collision.obj\n#\n# Vertices: 393\n# Faces: 800\n#\n####\nv -4.9695"
},
{
"path": "assets/urdf/ycb/025_mug/mug_collision_tw.obj",
"chars": 154191,
"preview": "v -4.998593551367319 -0.0599271425320691 4.108392073739268\nv -4.961385243920374 0.6313022396668584 4.035255972884757\nv -"
},
{
"path": "assets/urdf/ycb/025_mug/mug_collision_vhacd.obj",
"chars": 80622,
"preview": "# Blender v2.76 (sub 0) OBJ File: ''\n# www.blender.org\no textured_ACD.026_textured_ACD\nv 0.000000 0.000000 0.000000\nv -2"
},
{
"path": "assets/urdf/ycb/025_mug/mug_visual.obj",
"chars": 1708333,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object textured.obj\n#\n# Vertices: 9218\n# Faces: 15443\n#\n####\nmtllib ./te"
},
{
"path": "assets/urdf/ycb/025_mug/textured.mtl",
"chars": 236,
"preview": "#\n# Wavefront material file\n# Converted by Meshlab Group\n#\n\nnewmtl material_0\nKa 0.200000 0.200000 0.200000\nKd 0.752941 "
},
{
"path": "assets/urdf/ycb/025_mug/textured.obj",
"chars": 1708333,
"preview": "####\n#\n# OBJ File Generated by Meshlab\n#\n####\n# Object textured.obj\n#\n# Vertices: 9218\n# Faces: 15443\n#\n####\nmtllib ./te"
},
{
"path": "configs/bc/real.yaml",
"chars": 1110,
"preview": "data:\n type: real\n demo_path: /path/to/real/demos/\n num_train: 80\n num_test: 0\n valid_state_dim: 7\n im_size: 224\n "
},
{
"path": "configs/bc/sim.yaml",
"chars": 794,
"preview": "\ndata:\n type: sim\n demo_path: /path/to/sim/demos/\n num_train: 80\n num_test: 20\n im_size: 224\n max_shift: 0\n\nactor:"
},
{
"path": "configs/bc/task/FrankaPickPixels.yaml",
"chars": 955,
"preview": "name: FrankaPick\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 200\n\n object_pos_init: [0.5, 0.0]\n object_pos"
},
{
"path": "configs/bc/task/FrankaReachPixels.yaml",
"chars": 929,
"preview": "name: FrankaReach\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 200\n enableDebugVis: False\n saveCamIms: Fals"
},
{
"path": "configs/ppo/config.yaml",
"chars": 317,
"preview": "\nphysics_engine: \"physx\"\npipeline: \"gpu\"\nsim_device: \"cuda:0\"\nrl_device: \"cuda:0\"\ngraphics_device_id: 0\nnum_gpus: 1\n\ntes"
},
{
"path": "configs/ppo/task/FrankaCabinet.yaml",
"chars": 985,
"preview": "name: FrankaCabinet\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n cabinet_pos_init: [0.05, 0.0, 0.45]\n "
},
{
"path": "configs/ppo/task/FrankaCabinetPixels.yaml",
"chars": 1112,
"preview": "name: FrankaCabinet\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n cabinet_pos_init: [0.05, 0.0, 0.45]\n "
},
{
"path": "configs/ppo/task/FrankaMove.yaml",
"chars": 876,
"preview": "name: FrankaMove\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n object_pos_init: [0.5, 0.0]\n object_pos"
},
{
"path": "configs/ppo/task/FrankaMovePixels.yaml",
"chars": 1044,
"preview": "name: FrankaMove\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n enableDebugVis: False\n saveVis: False\n\n "
},
{
"path": "configs/ppo/task/FrankaPick.yaml",
"chars": 828,
"preview": "name: FrankaPick\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n object_pos_init: [0.5, 0.0]\n object_pos"
},
{
"path": "configs/ppo/task/FrankaPickObject.yaml",
"chars": 853,
"preview": "name: FrankaPickObject\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n obj_type: banana\n object_pos_init"
},
{
"path": "configs/ppo/task/FrankaPickObjectPixels.yaml",
"chars": 980,
"preview": "name: FrankaPickObject\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n obj_type: banana\n object_pos_init"
},
{
"path": "configs/ppo/task/FrankaPickPixels.yaml",
"chars": 955,
"preview": "name: FrankaPick\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n object_pos_init: [0.5, 0.0]\n object_pos"
},
{
"path": "configs/ppo/task/FrankaReach.yaml",
"chars": 758,
"preview": "name: FrankaReach\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 200\n\n goal_pos_init: [0.55, 0.0, 0.7]\n goal_"
},
{
"path": "configs/ppo/task/FrankaReachPixels.yaml",
"chars": 885,
"preview": "name: FrankaReach\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 200\n\n goal_pos_init: [0.55, 0.0, 0.7]\n goal_"
},
{
"path": "configs/ppo/task/KukaCabinet.yaml",
"chars": 1009,
"preview": "name: KukaCabinet\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n cabinet_pos_init: [0.05, 0.0, 0.45]\n c"
},
{
"path": "configs/ppo/task/KukaCabinetPixels.yaml",
"chars": 1133,
"preview": "name: KukaCabinet\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n cabinet_pos_init: [0.05, 0.0, 0.45]\n c"
},
{
"path": "configs/ppo/task/KukaMove.yaml",
"chars": 900,
"preview": "name: KukaMove\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n object_pos_init: [0.5, 0.0]\n object_pos_d"
},
{
"path": "configs/ppo/task/KukaMovePixels.yaml",
"chars": 1024,
"preview": "name: KukaMove\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n object_pos_init: [0.5, 0.0]\n object_pos_d"
},
{
"path": "configs/ppo/task/KukaPick.yaml",
"chars": 852,
"preview": "name: KukaPick\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n object_pos_init: [0.5, 0.0]\n object_pos_d"
},
{
"path": "configs/ppo/task/KukaPickObject.yaml",
"chars": 877,
"preview": "name: KukaPickObject\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n obj_type: banana\n object_pos_init: "
},
{
"path": "configs/ppo/task/KukaPickObjectPixels.yaml",
"chars": 1001,
"preview": "name: KukaPickObject\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n obj_type: banana\n object_pos_init: "
},
{
"path": "configs/ppo/task/KukaPickPixels.yaml",
"chars": 976,
"preview": "name: KukaPick\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 500\n\n object_pos_init: [0.5, 0.0]\n object_pos_d"
},
{
"path": "configs/ppo/task/KukaReach.yaml",
"chars": 795,
"preview": "name: KukaReach\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 200\n enableDebugVis: False\n saveVis: False\n\n "
},
{
"path": "configs/ppo/task/KukaReachPixels.yaml",
"chars": 878,
"preview": "name: KukaReach\n\nenv:\n numEnvs: 256\n envSpacing: 1.5\n episodeLength: 200\n\n goal_pos_init: [0.45, 0.0, 0.65]\n goal_p"
},
{
"path": "configs/ppo/train/FrankaCabinet.yaml",
"chars": 433,
"preview": "seed: 0\ntorch_deterministic: False\n\npolicy:\n pi_hid_sizes: [256, 128, 64]\n vf_hid_sizes: [256, 128, 64]\n\nlearn:\n agen"
},
{
"path": "configs/ppo/train/FrankaCabinetPixels.yaml",
"chars": 566,
"preview": "seed: 0\ntorch_deterministic: False\n\nencoder:\n name: vits-mae-hoi\n pretrain_dir: \"/tmp/pretrained\"\n freeze: True\n emb"
},
{
"path": "configs/ppo/train/FrankaMove.yaml",
"chars": 433,
"preview": "seed: 0\ntorch_deterministic: False\n\npolicy:\n pi_hid_sizes: [256, 128, 64]\n vf_hid_sizes: [256, 128, 64]\n\nlearn:\n agen"
},
{
"path": "configs/ppo/train/FrankaMovePixels.yaml",
"chars": 567,
"preview": "seed: 0\ntorch_deterministic: False\n\nencoder:\n name: vits-mae-hoi\n pretrain_dir: \"/tmp/pretrained\"\n freeze: True\n emb"
},
{
"path": "configs/ppo/train/FrankaPick.yaml",
"chars": 433,
"preview": "seed: 0\ntorch_deterministic: False\n\npolicy:\n pi_hid_sizes: [256, 128, 64]\n vf_hid_sizes: [256, 128, 64]\n\nlearn:\n agen"
}
]
// ... and 97 more files (download for full content)
About this extraction
This page contains the full source code of the ir413/mvp GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 297 files (58.8 MB), approximately 15.4M tokens, and a symbol index with 301 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.