Path	Lines of Code
robogym/assets/xmls/camera/default.xml	5
robogym/assets/xmls/chess/chessboard.xml	21
robogym/assets/xmls/floor/basic_floor.xml	7
robogym/assets/xmls/holdouts/ball_capture/ball.xml	9
robogym/assets/xmls/holdouts/ball_capture/cylinder.xml	9
robogym/assets/xmls/holdouts/ball_in_mug/mug.xml	69
robogym/assets/xmls/holdouts/bin_packing/bin.xml	31
robogym/assets/xmls/holdouts/bin_packing/spam_can.xml	21
robogym/assets/xmls/holdouts/bookshelf/bookshelf.xml	33
robogym/assets/xmls/holdouts/bookshelf/plane.xml	19
robogym/assets/xmls/holdouts/chess/chess_bishop.xml	31
robogym/assets/xmls/holdouts/chess/chess_king.xml	31
robogym/assets/xmls/holdouts/chess/chess_knight.xml	43
robogym/assets/xmls/holdouts/chess/chess_pawn.xml	25
robogym/assets/xmls/holdouts/chess/chess_queen.xml	35
robogym/assets/xmls/holdouts/chess/chess_rook.xml	35
robogym/assets/xmls/holdouts/chess/chessboard.xml	21
robogym/assets/xmls/holdouts/dominoes/domino.xml	12
robogym/assets/xmls/holdouts/jenga/piece.xml	12
robogym/assets/xmls/holdouts/lego/defaults.xml	24
robogym/assets/xmls/holdouts/lego/duplo2x4.xml	65
robogym/assets/xmls/holdouts/lego/easy_defaults.xml	24
robogym/assets/xmls/holdouts/rainbow/rainbow_part0.xml	12
robogym/assets/xmls/holdouts/rainbow/rainbow_part1.xml	24
robogym/assets/xmls/holdouts/rainbow/rainbow_part2.xml	26
robogym/assets/xmls/holdouts/rainbow/rainbow_part3.xml	26
robogym/assets/xmls/holdouts/rainbow/rainbow_part4.xml	30
robogym/assets/xmls/holdouts/rainbow/rainbow_part5.xml	34
robogym/assets/xmls/holdouts/tangram/tangram_large_triangle.xml	21
robogym/assets/xmls/holdouts/tangram/tangram_medium_triangle.xml	17
robogym/assets/xmls/holdouts/tangram/tangram_parallelogram.xml	17
robogym/assets/xmls/holdouts/tangram/tangram_small_triangle.xml	15
robogym/assets/xmls/holdouts/tangram/tangram_square.xml	17
robogym/assets/xmls/light/default.xml	8
robogym/assets/xmls/primitives/box.xml	9
robogym/assets/xmls/primitives/sphere.xml	9
robogym/assets/xmls/robot/shadowhand/assets.xml	115
robogym/assets/xmls/robot/shadowhand/chain.xml	199
robogym/assets/xmls/robot/shadowhand/chain_render.xml	140
robogym/assets/xmls/robot/shadowhand/joint_position_actuation.xml	86
robogym/assets/xmls/robot/shadowhand/joint_position_actuation_render.xml	58
robogym/assets/xmls/robot/shadowhand/main.xml	20
robogym/assets/xmls/robot/shadowhand/main_render.xml	20
robogym/assets/xmls/robot/shadowhand/tendon_torque_actuation.xml	86
robogym/assets/xmls/robot/ur16e/URtable.xml	7
robogym/assets/xmls/robot/ur16e/backdrop.xml	5
robogym/assets/xmls/robot/ur16e/base.xml	46
robogym/assets/xmls/robot/ur16e/gripper.xml	38
robogym/assets/xmls/robot/ur16e/gripper_actuators.xml	8
robogym/assets/xmls/robot/ur16e/gripper_main.xml	7
robogym/assets/xmls/robot/ur16e/jointspec/calibrations/cascaded_pi/joint_actuations.xml	10
robogym/assets/xmls/robot/ur16e/jointspec/calibrations/cascaded_pi/ur16e_ik_class.xml	21
robogym/assets/xmls/robot/ur16e/jointspec/calibrations/pid/joint_actuations.xml	10
robogym/assets/xmls/robot/ur16e/jointspec/calibrations/pid/ur16e_ik_class.xml	28
robogym/assets/xmls/robot/ur16e/jointspec/jointrange_defaults.xml	3
robogym/assets/xmls/robot/ur16e/jointspec/jointrange_wrist.xml	3
robogym/assets/xmls/robot/ur16e/jointspec/ur16e_mocap_class.xml	28
robogym/assets/xmls/robot/ur16e/reach_main.xml	7
robogym/assets/xmls/robot/ur16e/robot.xml	48
robogym/assets/xmls/robot/ur16e/shared.xml	73
robogym/assets/xmls/robot/ur16e/target.xml	5
robogym/assets/xmls/robot/ur16e/tcp_mocap.xml	8
robogym/assets/xmls/robot/ur16e/tcp_reach_main.xml	11
robogym/assets/xmls/robot/ur16e/wrist_cam.xml	21
robogym/assets/xmls/rubik/main.xml	188
robogym/assets/xmls/rubik/rubik_face.xml	27
robogym/assets/xmls/rubik/rubik_face_material_cells.xml	242
robogym/assets/xmls/rubik/rubik_locked.xml	19
robogym/assets/xmls/rubik/rubik_locked_material_cells.xml	250
robogym/assets/xmls/rubik/rubik_locked_openai.xml	55
robogym/assets/xmls/rubik/rubik_locked_with_obstacles.xml	26
robogym/assets/xmls/rubik/rubik_perpendicular.xml	297
robogym/assets/xmls/rubik/rubik_perpendicular_vision.xml	310
robogym/assets/xmls/rubik/rubik_perpendicular_vision_corner_cutoff.xml	317
robogym/assets/xmls/shadowhand_reach/target.xml	9
robogym/envs/dactyl/common/cube_env.py	214
robogym/envs/dactyl/common/cube_manipulator.py	261
robogym/envs/dactyl/common/cube_utils.py	102
robogym/envs/dactyl/common/dactyl_cube_wrappers.py	122
robogym/envs/dactyl/common/mujoco_modifiers.py	70
robogym/envs/dactyl/face_perpendicular.py	370
robogym/envs/dactyl/full_perpendicular.py	318
robogym/envs/dactyl/goals/face_cube_solver.py	124
robogym/envs/dactyl/goals/face_curriculum.py	105
robogym/envs/dactyl/goals/face_free.py	116
robogym/envs/dactyl/goals/fixed_fair_scramble.py	7
robogym/envs/dactyl/goals/full_unconstrained.py	71
robogym/envs/dactyl/goals/locked_parallel.py	41
robogym/envs/dactyl/goals/locked_real_image.py	27
robogym/envs/dactyl/goals/release_cube_solver.py	15
robogym/envs/dactyl/goals/rubik_cube_solver.py	123
robogym/envs/dactyl/goals/shadow_hand_reach_fingertip_pos.py	61
robogym/envs/dactyl/goals/unconstrained_cube_solver.py	76
robogym/envs/dactyl/locked.py	215
robogym/envs/dactyl/observation/cube.py	21
robogym/envs/dactyl/observation/face_perpendicular.py	20
robogym/envs/dactyl/observation/full_perpendicular.py	21
robogym/envs/dactyl/observation/locked.py	5
robogym/envs/dactyl/observation/reach.py	9
robogym/envs/dactyl/observation/shadow_hand.py	41
robogym/envs/dactyl/reach.py	175
robogym/envs/rearrange/blocks.py	32
robogym/envs/rearrange/blocks_attached.py	26
robogym/envs/rearrange/blocks_duplicate.py	15
robogym/envs/rearrange/blocks_pickandplace.py	11
robogym/envs/rearrange/blocks_reach.py	27
robogym/envs/rearrange/blocks_stack.py	32
robogym/envs/rearrange/blocks_train.py	49
robogym/envs/rearrange/chessboard.py	74
robogym/envs/rearrange/common/base.py	767
robogym/envs/rearrange/common/mesh.py	65
robogym/envs/rearrange/common/utils.py	631
robogym/envs/rearrange/common/wrappers.py	40
robogym/envs/rearrange/composer.py	37
robogym/envs/rearrange/datasets/envstates/base.py	56
robogym/envs/rearrange/datasets/envstates/random.py	80
robogym/envs/rearrange/datasets/envstates/utils.py	15
robogym/envs/rearrange/datasets/objects/base.py	23
robogym/envs/rearrange/datasets/objects/local_mesh.py	17
robogym/envs/rearrange/datasets/objects/utils.py	8
robogym/envs/rearrange/dominos.py	39
robogym/envs/rearrange/goals/attached_block_state.py	39
robogym/envs/rearrange/goals/dominos.py	99
robogym/envs/rearrange/goals/holdout_object_state.py	53
robogym/envs/rearrange/goals/object_reach_goal.py	59
robogym/envs/rearrange/goals/object_stack_goal.py	76
robogym/envs/rearrange/goals/object_state.py	406
robogym/envs/rearrange/goals/object_state_fixed.py	33
robogym/envs/rearrange/goals/pickandplace.py	35
robogym/envs/rearrange/goals/train_state.py	78
robogym/envs/rearrange/holdout.py	83
robogym/envs/rearrange/holdouts/__init__.py	2
robogym/envs/rearrange/holdouts/configs/ball_capture.jsonnet	43
robogym/envs/rearrange/holdouts/configs/ball_in_mug.jsonnet	32
robogym/envs/rearrange/holdouts/configs/bin_packing.jsonnet	6
robogym/envs/rearrange/holdouts/configs/bin_unpacking.jsonnet	6
robogym/envs/rearrange/holdouts/configs/bookshelf.jsonnet	18
robogym/envs/rearrange/holdouts/configs/chess.jsonnet	174
robogym/envs/rearrange/holdouts/configs/dominoes.jsonnet	20
robogym/envs/rearrange/holdouts/configs/jenga/cross.jsonnet	5
robogym/envs/rearrange/holdouts/configs/jenga/leaning_tower.jsonnet	5
robogym/envs/rearrange/holdouts/configs/jenga/leaning_tower_disassemble.jsonnet	5
robogym/envs/rearrange/holdouts/configs/jenga/stack6.jsonnet	6
robogym/envs/rearrange/holdouts/configs/lego/easy_stack2.jsonnet	3
robogym/envs/rearrange/holdouts/configs/lego/easy_stack3.jsonnet	3
robogym/envs/rearrange/holdouts/configs/lego/stack2.jsonnet	9
robogym/envs/rearrange/holdouts/configs/lego/stack2L.jsonnet	3
robogym/envs/rearrange/holdouts/configs/lego/stack3.jsonnet	10
robogym/envs/rearrange/holdouts/configs/lego/stack5.jsonnet	12
robogym/envs/rearrange/holdouts/configs/physics_tests/block_stacking4.jsonnet	4
robogym/envs/rearrange/holdouts/configs/physics_tests/drop.jsonnet	3
robogym/envs/rearrange/holdouts/configs/physics_tests/drop_complex.jsonnet	18
robogym/envs/rearrange/holdouts/configs/physics_tests/static.jsonnet	3
robogym/envs/rearrange/holdouts/configs/rainbow.jsonnet	15
robogym/envs/rearrange/holdouts/configs/rainbow_build/rainbow_balance.jsonnet	27
robogym/envs/rearrange/holdouts/configs/rainbow_build/rainbow_stack2.jsonnet	21
robogym/envs/rearrange/holdouts/configs/rainbow_build/rainbow_stack4.jsonnet	23
robogym/envs/rearrange/holdouts/configs/rainbow_build/rainbow_stack6.jsonnet	25
robogym/envs/rearrange/holdouts/configs/rainbow_build/rainbow_stack_inv2.jsonnet	21
robogym/envs/rearrange/holdouts/configs/rainbow_build/rainbow_stack_inv4.jsonnet	23
robogym/envs/rearrange/holdouts/configs/rainbow_build/rainbow_stack_inv6.jsonnet	25
robogym/envs/rearrange/holdouts/configs/sample.jsonnet	35
robogym/envs/rearrange/holdouts/configs/tangram.jsonnet	78
robogym/envs/rearrange/materials/chess.jsonnet	8
robogym/envs/rearrange/materials/default.jsonnet	10
robogym/envs/rearrange/materials/painted_wood.jsonnet	6
robogym/envs/rearrange/materials/rubber-ball.jsonnet	7
robogym/envs/rearrange/materials/tangram.jsonnet	6
robogym/envs/rearrange/mixture.py	84
robogym/envs/rearrange/observation/common.py	62
robogym/envs/rearrange/observation/physical.py	1
robogym/envs/rearrange/simulation/base.py	666
robogym/envs/rearrange/simulation/blocks.py	24
robogym/envs/rearrange/simulation/chessboard.py	24
robogym/envs/rearrange/simulation/composer.py	132
robogym/envs/rearrange/simulation/dominos.py	34
robogym/envs/rearrange/simulation/holdout.py	132
robogym/envs/rearrange/simulation/mesh.py	42
robogym/envs/rearrange/simulation/wordblocks.py	24
robogym/envs/rearrange/table_setting.py	68
robogym/envs/rearrange/wordblocks.py	73
robogym/envs/rearrange/ycb.py	61
robogym/envs/rearrange/ycb_pickandplace.py	11
robogym/goal/goal_generator.py	24
robogym/mujoco/constants.py	44
robogym/mujoco/forward_kinematics.py	176
robogym/mujoco/helpers.py	40
robogym/mujoco/modifiers/base.py	7
robogym/mujoco/modifiers/timestep.py	4
robogym/mujoco/mujoco_xml.py	227
robogym/mujoco/simulation_interface.py	125
robogym/mujoco/warning_buffer.py	40
robogym/observation/common.py	28
robogym/observation/dummy_vision.py	34
robogym/observation/goal.py	55
robogym/observation/image.py	20
robogym/observation/mujoco.py	24
robogym/randomization/action.py	5
robogym/randomization/common.py	139
robogym/randomization/env.py	150
robogym/randomization/observation.py	6
robogym/randomization/parameters.py	34
robogym/randomization/sim.py	451
robogym/robot/composite/composite_robot.py	103
robogym/robot/composite/controllers/ur_gripper_arm.py	85
robogym/robot/composite/ur_gripper_arm.py	101
robogym/robot/control/tcp/force_based_tcp_control_limiter.py	50
robogym/robot/control/tcp/mocap_solver.py	52
robogym/robot/control/tcp/solver.py	41
robogym/robot/factories.py	31
robogym/robot/gripper/mujoco/mujoco_robotiq_gripper.py	107
robogym/robot/gripper/mujoco/regrasp_helper.py	143
robogym/robot/lib/parameter_configurer.py	10
robogym/robot/robot_interface.py	154
robogym/robot/shadow_hand/hand_forward_kinematics.py	47
robogym/robot/shadow_hand/hand_interface.py	249
robogym/robot/shadow_hand/hand_utils.py	33
robogym/robot/shadow_hand/mujoco/mujoco_shadow_hand.py	103
robogym/robot/shadow_hand/mujoco/parameter_manager.py	187
robogym/robot/shadow_hand/mujoco/shadow_hand_simulation.py	40
robogym/robot/ur16e/arm_interface.py	48
robogym/robot/ur16e/mujoco/free_dof_tcp_arm.py	155
robogym/robot/ur16e/mujoco/ideal_joint_controlled_tcp_arm.py	84
robogym/robot/ur16e/mujoco/joint_controlled_arm.py	110
robogym/robot/ur16e/mujoco/joint_controlled_tcp_arm.py	76
robogym/robot/ur16e/mujoco/simulation/base.py	118
robogym/robot/utils/logistic_functions.py	25
robogym/robot/utils/measurement_units.py	40
robogym/robot/utils/reach_helper.py	481
robogym/robot/utils/robot_utils.py	39
robogym/robot_env.py	556
robogym/robot_exception.py	2
robogym/scripts/create_holdout.py	18
robogym/scripts/examine.py	37
robogym/utils/dactyl_utils.py	9
robogym/utils/env_utils.py	133
robogym/utils/icp.py	63
robogym/utils/mesh.py	15
robogym/utils/misc.py	17
robogym/utils/multi_goal_tracker.py	199
robogym/utils/parse_arguments.py	48
robogym/utils/rotation.py	326
robogym/utils/rubik_utils.py	29
robogym/utils/sensor_utils.py	38
robogym/viewer/env_viewer.py	137
robogym/viewer/holdout_creation_viewer.py	63
robogym/viewer/robot_control_viewer.py	144
robogym/worldgen/parser/const.py	71
robogym/worldgen/parser/normalize.py	139
robogym/wrappers/cube.py	147
robogym/wrappers/dactyl.py	178
robogym/wrappers/face.py	7
robogym/wrappers/named_wrappers.py	55
robogym/wrappers/parametric.py	23
robogym/wrappers/randomizations.py	856
robogym/wrappers/util.py	222
setup.py	26