Add files using upload-large-folder tool

third_party/PointFlowMatch/bash/collect_data.sh

@@ -0,0 +1,23 @@
+python scripts/collect_demos.py --config-name=collect_demos_train save_data=True env_config.vis=False env_config.task_name=unplug_charger
+python scripts/collect_demos.py --config-name=collect_demos_valid save_data=True env_config.vis=False env_config.task_name=unplug_charger
+
+python scripts/collect_demos.py --config-name=collect_demos_train save_data=True env_config.vis=False env_config.task_name=close_door
+python scripts/collect_demos.py --config-name=collect_demos_valid save_data=True env_config.vis=False env_config.task_name=close_door
+
+python scripts/collect_demos.py --config-name=collect_demos_train save_data=True env_config.vis=False env_config.task_name=open_box
+python scripts/collect_demos.py --config-name=collect_demos_valid save_data=True env_config.vis=False env_config.task_name=open_box
+
+python scripts/collect_demos.py --config-name=collect_demos_train save_data=True env_config.vis=False env_config.task_name=open_fridge
+python scripts/collect_demos.py --config-name=collect_demos_valid save_data=True env_config.vis=False env_config.task_name=open_fridge
+
+python scripts/collect_demos.py --config-name=collect_demos_train save_data=True env_config.vis=False env_config.task_name=take_frame_off_hanger
+python scripts/collect_demos.py --config-name=collect_demos_valid save_data=True env_config.vis=False env_config.task_name=take_frame_off_hanger
+
+python scripts/collect_demos.py --config-name=collect_demos_train save_data=True env_config.vis=False env_config.task_name=open_oven
+python scripts/collect_demos.py --config-name=collect_demos_valid save_data=True env_config.vis=False env_config.task_name=open_oven
+
+python scripts/collect_demos.py --config-name=collect_demos_train save_data=True env_config.vis=False env_config.task_name=put_books_on_bookshelf
+python scripts/collect_demos.py --config-name=collect_demos_valid save_data=True env_config.vis=False env_config.task_name=put_books_on_bookshelf
+
+python scripts/collect_demos.py --config-name=collect_demos_train save_data=True env_config.vis=False env_config.task_name=take_shoes_out_of_box
+python scripts/collect_demos.py --config-name=collect_demos_valid save_data=True env_config.vis=False env_config.task_name=take_shoes_out_of_box

third_party/PointFlowMatch/bash/install_deps.sh

@@ -0,0 +1,15 @@
+if ! [[ -n "${CONDA_PREFIX}" ]]; then
+    echo "You are not inside a conda environment. Please activate your environment first."
+    exit 1
+fi
+
+pip install torch==2.1.2 torchvision==0.16.2 torchaudio==2.1.2 --index-url https://download.pytorch.org/whl/cu121
+pip install fvcore iopath
+pip install --no-index --no-cache-dir pytorch3d==0.7.5 -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py310_cu121_pyt212/download.html
+# Or if on cpu: 
+# pip3 install torch==2.1.2 torchvision==0.16.2 torchaudio==2.1.2 --index-url https://download.pytorch.org/whl/cpu
+pip install -e .
+rm -R *.egg-info
+
+# Pypose
+pip install --no-deps pypose

third_party/PointFlowMatch/bash/install_rlbench.sh

@@ -0,0 +1,21 @@
+if ! [[ -n "${CONDA_PREFIX}" ]]; then
+    echo "You are not inside a conda environment. Please activate your environment first."
+    exit 1
+fi
+
+if ! [[ -n "${COPPELIASIM_ROOT}" ]]; then
+    echo "COPPELIASIM_ROOT is not defined."
+    exit 1
+fi
+
+# Download Coppelia sim if not present
+if ! [[-e $COPPELIASIM_ROOT]]; then
+    wget https://downloads.coppeliarobotics.com/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
+    mkdir -p $COPPELIASIM_ROOT && tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz -C $COPPELIASIM_ROOT --strip-components 1
+    rm -rf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
+fi
+
+# Install PyRep and RLBench
+pip install -r https://raw.githubusercontent.com/stepjam/PyRep/master/requirements.txt
+pip install git+https://github.com/stepjam/PyRep.git
+pip install git+https://github.com/stepjam/RLBench.git

third_party/PointFlowMatch/bash/start_eval.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+gpu_id=$1
+ckpt_name=$2
+k_steps=${3:-50}  # Default k_steps is 50
+seed=${4:-0}  # Default seed is 0
+if [ $seed -ne 0 ]; then
+    tmux new-session -d -s "eval_${ckpt_name}_k${k_steps}_${seed}" 
+    tmux send-keys -t "eval_${ckpt_name}_k${k_steps}_${seed}" "conda activate pfp_env && CUDA_VISIBLE_DEVICES=$gpu_id WANDB__SERVICE_WAIT=300 xvfb-run -a python scripts/evaluate.py log_wandb=True env_runner.env_config.vis=False policy.ckpt_name=$ckpt_name seed=$seed policy.num_k_infer=$k_steps" Enter
+else
+    for seed in 5678 2468 1357; do
+        tmux new-session -d -s "eval_${ckpt_name}_k${k_steps}_${seed}"
+        tmux send-keys -t "eval_${ckpt_name}_k${k_steps}_${seed}" "conda activate pfp_env && CUDA_VISIBLE_DEVICES=$gpu_id WANDB__SERVICE_WAIT=300 xvfb-run -a python scripts/evaluate.py log_wandb=True env_runner.env_config.vis=False policy.ckpt_name=$ckpt_name seed=$seed policy.num_k_infer=$k_steps" Enter
+    done
+fi

third_party/PointFlowMatch/bash/start_eval_ksteps.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+gpu_id=$1
+ckpt_name=$2
+seed=${4:-0}  # Default seed is 0
+for k_steps in 1 2 4 8; do
+    if [ $seed -ne 0 ]; then
+        tmux new-session -d -s "eval_${ckpt_name}_k${k_steps}_${seed}" 
+        tmux send-keys -t "eval_${ckpt_name}_k${k_steps}_${seed}" "conda activate pfp_env && CUDA_VISIBLE_DEVICES=$gpu_id WANDB__SERVICE_WAIT=300 xvfb-run -a python scripts/evaluate.py log_wandb=True env_runner.env_config.vis=False policy.ckpt_name=$ckpt_name seed=$seed policy.num_k_infer=$k_steps" Enter
+    else
+        for seed in 5678 2468 1357; do
+            tmux new-session -d -s "eval_${ckpt_name}_k${k_steps}_${seed}"
+            tmux send-keys -t "eval_${ckpt_name}_k${k_steps}_${seed}" "conda activate pfp_env && CUDA_VISIBLE_DEVICES=$gpu_id WANDB__SERVICE_WAIT=300 xvfb-run -a python scripts/evaluate.py log_wandb=True env_runner.env_config.vis=False policy.ckpt_name=$ckpt_name seed=$seed policy.num_k_infer=$k_steps" Enter
+        done
+        seed=0
+    fi
+done

third_party/PointFlowMatch/outputs/2026-04-03/00-25-21/evaluate.log

@@ -0,0 +1 @@
+[2026-04-03 00:25:24,802][diffusion_policy.model.diffusion.conditional_unet1d][INFO] - number of parameters: 7.285095e+07

third_party/PointFlowMatch/outputs/2026-04-03/00-26-06/.hydra/config.yaml

@@ -0,0 +1,14 @@
+seed: 5678
+log_wandb: false
+env_runner:
+  num_episodes: 1
+  max_episode_length: 200
+  verbose: true
+  env_config:
+    voxel_size: 0.01
+    headless: true
+    vis: false
+policy:
+  ckpt_name: 1717447341-indigo-quokka/1717447341-indigo-quokka
+  ckpt_episode: ep1500
+  num_k_infer: 50

third_party/PointFlowMatch/outputs/2026-04-03/00-26-06/.hydra/hydra.yaml

@@ -0,0 +1,159 @@
+hydra:
+  run:
+    dir: outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - log_wandb=False
+    - env_runner.env_config.vis=False
+    - env_runner.num_episodes=1
+    - env_runner.max_episode_length=200
+    - policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+  job:
+    name: evaluate
+    chdir: null
+    override_dirname: env_runner.env_config.vis=False,env_runner.max_episode_length=200,env_runner.num_episodes=1,log_wandb=False,policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+    id: ???
+    num: ???
+    config_name: eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /workspace/third_party/PointFlowMatch
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /workspace/third_party/PointFlowMatch/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /workspace/third_party/PointFlowMatch/outputs/2026-04-03/00-26-06
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

third_party/PointFlowMatch/outputs/2026-04-03/00-26-06/.hydra/overrides.yaml

@@ -0,0 +1,5 @@
+- log_wandb=False
+- env_runner.env_config.vis=False
+- env_runner.num_episodes=1
+- env_runner.max_episode_length=200
+- policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka

third_party/PointFlowMatch/outputs/2026-04-03/00-26-06/evaluate.log

@@ -0,0 +1 @@
+[2026-04-03 00:26:10,208][diffusion_policy.model.diffusion.conditional_unet1d][INFO] - number of parameters: 7.285095e+07

third_party/PointFlowMatch/outputs/2026-04-03/00-28-35/.hydra/config.yaml

@@ -0,0 +1,14 @@
+seed: 5678
+log_wandb: false
+env_runner:
+  num_episodes: 1
+  max_episode_length: 200
+  verbose: true
+  env_config:
+    voxel_size: 0.01
+    headless: true
+    vis: false
+policy:
+  ckpt_name: 1717447341-indigo-quokka/1717447341-indigo-quokka
+  ckpt_episode: ep1500
+  num_k_infer: 50

third_party/PointFlowMatch/outputs/2026-04-03/00-28-35/.hydra/hydra.yaml

@@ -0,0 +1,159 @@
+hydra:
+  run:
+    dir: outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - log_wandb=False
+    - env_runner.env_config.vis=False
+    - env_runner.num_episodes=1
+    - env_runner.max_episode_length=200
+    - policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+  job:
+    name: evaluate
+    chdir: null
+    override_dirname: env_runner.env_config.vis=False,env_runner.max_episode_length=200,env_runner.num_episodes=1,log_wandb=False,policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+    id: ???
+    num: ???
+    config_name: eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /workspace/third_party/PointFlowMatch
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /workspace/third_party/PointFlowMatch/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /workspace/third_party/PointFlowMatch/outputs/2026-04-03/00-28-35
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

third_party/PointFlowMatch/outputs/2026-04-03/00-28-35/.hydra/overrides.yaml

@@ -0,0 +1,5 @@
+- log_wandb=False
+- env_runner.env_config.vis=False
+- env_runner.num_episodes=1
+- env_runner.max_episode_length=200
+- policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka

third_party/PointFlowMatch/outputs/2026-04-03/00-28-35/evaluate.log

@@ -0,0 +1,2 @@
+[2026-04-03 00:28:38,193][diffusion_policy.model.diffusion.conditional_unet1d][INFO] - number of parameters: 7.285095e+07
+[2026-04-03 00:28:40,034][root][WARNING] - single robot

third_party/PointFlowMatch/outputs/2026-04-03/00-29-54/.hydra/config.yaml

@@ -0,0 +1,14 @@
+seed: 5678
+log_wandb: false
+env_runner:
+  num_episodes: 1
+  max_episode_length: 200
+  verbose: true
+  env_config:
+    voxel_size: 0.01
+    headless: true
+    vis: false
+policy:
+  ckpt_name: 1717447341-indigo-quokka/1717447341-indigo-quokka
+  ckpt_episode: ep1500
+  num_k_infer: 50

third_party/PointFlowMatch/outputs/2026-04-03/00-29-54/.hydra/hydra.yaml

@@ -0,0 +1,159 @@
+hydra:
+  run:
+    dir: outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - log_wandb=False
+    - env_runner.env_config.vis=False
+    - env_runner.num_episodes=1
+    - env_runner.max_episode_length=200
+    - policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+  job:
+    name: evaluate
+    chdir: null
+    override_dirname: env_runner.env_config.vis=False,env_runner.max_episode_length=200,env_runner.num_episodes=1,log_wandb=False,policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+    id: ???
+    num: ???
+    config_name: eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /workspace/third_party/PointFlowMatch
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /workspace/third_party/PointFlowMatch/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /workspace/third_party/PointFlowMatch/outputs/2026-04-03/00-29-54
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

third_party/PointFlowMatch/outputs/2026-04-03/00-29-54/.hydra/overrides.yaml

@@ -0,0 +1,5 @@
+- log_wandb=False
+- env_runner.env_config.vis=False
+- env_runner.num_episodes=1
+- env_runner.max_episode_length=200
+- policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka

third_party/PointFlowMatch/outputs/2026-04-03/00-29-54/evaluate.log

@@ -0,0 +1,2 @@
+[2026-04-03 00:29:57,368][diffusion_policy.model.diffusion.conditional_unet1d][INFO] - number of parameters: 7.285095e+07
+[2026-04-03 00:29:59,155][root][WARNING] - single robot

third_party/PointFlowMatch/outputs/2026-04-03/00-36-05/.hydra/config.yaml

@@ -0,0 +1,14 @@
+seed: 5678
+log_wandb: false
+env_runner:
+  num_episodes: 1
+  max_episode_length: 200
+  verbose: true
+  env_config:
+    voxel_size: 0.01
+    headless: true
+    vis: false
+policy:
+  ckpt_name: 1717447341-indigo-quokka/1717447341-indigo-quokka
+  ckpt_episode: ep1500
+  num_k_infer: 10

third_party/PointFlowMatch/outputs/2026-04-03/00-36-05/.hydra/hydra.yaml

@@ -0,0 +1,160 @@
+hydra:
+  run:
+    dir: outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - log_wandb=False
+    - env_runner.env_config.vis=False
+    - env_runner.num_episodes=1
+    - env_runner.max_episode_length=200
+    - policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+    - policy.num_k_infer=10
+  job:
+    name: evaluate
+    chdir: null
+    override_dirname: env_runner.env_config.vis=False,env_runner.max_episode_length=200,env_runner.num_episodes=1,log_wandb=False,policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka,policy.num_k_infer=10
+    id: ???
+    num: ???
+    config_name: eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /workspace/third_party/PointFlowMatch
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /workspace/third_party/PointFlowMatch/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /workspace/third_party/PointFlowMatch/outputs/2026-04-03/00-36-05
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

third_party/PointFlowMatch/outputs/2026-04-03/00-36-05/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- log_wandb=False
+- env_runner.env_config.vis=False
+- env_runner.num_episodes=1
+- env_runner.max_episode_length=200
+- policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+- policy.num_k_infer=10

third_party/PointFlowMatch/outputs/2026-04-03/00-36-05/evaluate.log

@@ -0,0 +1,2 @@
+[2026-04-03 00:36:09,107][diffusion_policy.model.diffusion.conditional_unet1d][INFO] - number of parameters: 7.285095e+07
+[2026-04-03 00:36:11,021][root][WARNING] - single robot

third_party/PointFlowMatch/outputs/2026-04-03/00-39-03/.hydra/config.yaml

@@ -0,0 +1,14 @@
+seed: 5678
+log_wandb: false
+env_runner:
+  num_episodes: 1
+  max_episode_length: 200
+  verbose: true
+  env_config:
+    voxel_size: 0.01
+    headless: true
+    vis: false
+policy:
+  ckpt_name: 1717447341-indigo-quokka/1717447341-indigo-quokka
+  ckpt_episode: ep1500
+  num_k_infer: 10

third_party/PointFlowMatch/outputs/2026-04-03/00-39-03/.hydra/hydra.yaml

@@ -0,0 +1,160 @@
+hydra:
+  run:
+    dir: outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - log_wandb=False
+    - env_runner.env_config.vis=False
+    - env_runner.num_episodes=1
+    - env_runner.max_episode_length=200
+    - policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+    - policy.num_k_infer=10
+  job:
+    name: evaluate
+    chdir: null
+    override_dirname: env_runner.env_config.vis=False,env_runner.max_episode_length=200,env_runner.num_episodes=1,log_wandb=False,policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka,policy.num_k_infer=10
+    id: ???
+    num: ???
+    config_name: eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /workspace/third_party/PointFlowMatch
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /workspace/third_party/PointFlowMatch/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /workspace/third_party/PointFlowMatch/outputs/2026-04-03/00-39-03
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

third_party/PointFlowMatch/outputs/2026-04-03/00-39-03/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- log_wandb=False
+- env_runner.env_config.vis=False
+- env_runner.num_episodes=1
+- env_runner.max_episode_length=200
+- policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+- policy.num_k_infer=10

third_party/PointFlowMatch/outputs/2026-04-03/00-39-03/evaluate.log

@@ -0,0 +1,2 @@
+[2026-04-03 00:39:06,341][diffusion_policy.model.diffusion.conditional_unet1d][INFO] - number of parameters: 7.285095e+07
+[2026-04-03 00:39:08,232][root][WARNING] - single robot

third_party/PointFlowMatch/outputs/2026-04-03/00-48-26/.hydra/config.yaml

@@ -0,0 +1,14 @@
+seed: 5678
+log_wandb: false
+env_runner:
+  num_episodes: 1
+  max_episode_length: 200
+  verbose: true
+  env_config:
+    voxel_size: 0.01
+    headless: true
+    vis: false
+policy:
+  ckpt_name: 1717447341-indigo-quokka/1717447341-indigo-quokka
+  ckpt_episode: ep1500
+  num_k_infer: 50

third_party/PointFlowMatch/outputs/2026-04-03/00-48-26/.hydra/hydra.yaml

@@ -0,0 +1,160 @@
+hydra:
+  run:
+    dir: outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - log_wandb=False
+    - env_runner.env_config.vis=False
+    - env_runner.num_episodes=1
+    - env_runner.max_episode_length=200
+    - policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+    - policy.num_k_infer=50
+  job:
+    name: evaluate
+    chdir: null
+    override_dirname: env_runner.env_config.vis=False,env_runner.max_episode_length=200,env_runner.num_episodes=1,log_wandb=False,policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka,policy.num_k_infer=50
+    id: ???
+    num: ???
+    config_name: eval
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /workspace/third_party/PointFlowMatch
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /workspace/third_party/PointFlowMatch/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /workspace/third_party/PointFlowMatch/outputs/2026-04-03/00-48-26
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

third_party/PointFlowMatch/outputs/2026-04-03/00-48-26/.hydra/overrides.yaml

@@ -0,0 +1,6 @@
+- log_wandb=False
+- env_runner.env_config.vis=False
+- env_runner.num_episodes=1
+- env_runner.max_episode_length=200
+- policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka
+- policy.num_k_infer=50

third_party/PointFlowMatch/outputs/2026-04-03/00-48-26/evaluate.log

@@ -0,0 +1,2 @@
+[2026-04-03 00:48:33,178][diffusion_policy.model.diffusion.conditional_unet1d][INFO] - number of parameters: 7.285095e+07
+[2026-04-03 00:48:35,019][root][WARNING] - single robot

third_party/diffusion_policy/diffusion_policy/env/kitchen/__init__.py

@@ -0,0 +1,30 @@
+"""Environments using kitchen and Franka robot."""
+from gym.envs.registration import register
+
+register(
+    id="kitchen-microwave-kettle-light-slider-v0",
+    entry_point="diffusion_policy.env.kitchen.v0:KitchenMicrowaveKettleLightSliderV0",
+    max_episode_steps=280,
+    reward_threshold=1.0,
+)
+
+register(
+    id="kitchen-microwave-kettle-burner-light-v0",
+    entry_point="diffusion_policy.env.kitchen.v0:KitchenMicrowaveKettleBottomBurnerLightV0",
+    max_episode_steps=280,
+    reward_threshold=1.0,
+)
+
+register(
+    id="kitchen-kettle-microwave-light-slider-v0",
+    entry_point="diffusion_policy.env.kitchen.v0:KitchenKettleMicrowaveLightSliderV0",
+    max_episode_steps=280,
+    reward_threshold=1.0,
+)
+
+register(
+    id="kitchen-all-v0",
+    entry_point="diffusion_policy.env.kitchen.v0:KitchenAllV0",
+    max_episode_steps=280,
+    reward_threshold=1.0,
+)

third_party/diffusion_policy/diffusion_policy/env/kitchen/base.py

@@ -0,0 +1,153 @@
+import sys
+import os
+# hack to import adept envs
+ADEPT_DIR = os.path.join(os.path.dirname(__file__), 'relay_policy_learning', 'adept_envs')
+sys.path.append(ADEPT_DIR)
+
+import logging
+import numpy as np
+import adept_envs
+from adept_envs.franka.kitchen_multitask_v0 import KitchenTaskRelaxV1
+
+OBS_ELEMENT_INDICES = {
+    "bottom burner": np.array([11, 12]),
+    "top burner": np.array([15, 16]),
+    "light switch": np.array([17, 18]),
+    "slide cabinet": np.array([19]),
+    "hinge cabinet": np.array([20, 21]),
+    "microwave": np.array([22]),
+    "kettle": np.array([23, 24, 25, 26, 27, 28, 29]),
+}
+OBS_ELEMENT_GOALS = {
+    "bottom burner": np.array([-0.88, -0.01]),
+    "top burner": np.array([-0.92, -0.01]),
+    "light switch": np.array([-0.69, -0.05]),
+    "slide cabinet": np.array([0.37]),
+    "hinge cabinet": np.array([0.0, 1.45]),
+    "microwave": np.array([-0.75]),
+    "kettle": np.array([-0.23, 0.75, 1.62, 0.99, 0.0, 0.0, -0.06]),
+}
+BONUS_THRESH = 0.3
+logger = logging.getLogger()
+
+
+class KitchenBase(KitchenTaskRelaxV1):
+    # A string of element names. The robot's task is then to modify each of
+    # these elements appropriately.
+    TASK_ELEMENTS = []
+    ALL_TASKS = [
+        "bottom burner",
+        "top burner",
+        "light switch",
+        "slide cabinet",
+        "hinge cabinet",
+        "microwave",
+        "kettle",
+    ]
+    REMOVE_TASKS_WHEN_COMPLETE = True
+    TERMINATE_ON_TASK_COMPLETE = True
+    TERMINATE_ON_WRONG_COMPLETE = False
+    COMPLETE_IN_ANY_ORDER = (
+        True  # This allows for the tasks to be completed in arbitrary order.
+    )
+
+    def __init__(
+        self, dataset_url=None, ref_max_score=None, ref_min_score=None, 
+        use_abs_action=False,
+        **kwargs
+    ):
+        self.tasks_to_complete = list(self.TASK_ELEMENTS)
+        self.goal_masking = True
+        super(KitchenBase, self).__init__(use_abs_action=use_abs_action, **kwargs)
+
+    def set_goal_masking(self, goal_masking=True):
+        """Sets goal masking for goal-conditioned approaches (like RPL)."""
+        self.goal_masking = goal_masking
+
+    def _get_task_goal(self, task=None, actually_return_goal=False):
+        if task is None:
+            task = ["microwave", "kettle", "bottom burner", "light switch"]
+        new_goal = np.zeros_like(self.goal)
+        if self.goal_masking and not actually_return_goal:
+            return new_goal
+        for element in task:
+            element_idx = OBS_ELEMENT_INDICES[element]
+            element_goal = OBS_ELEMENT_GOALS[element]
+            new_goal[element_idx] = element_goal
+
+        return new_goal
+
+    def reset_model(self):
+        self.tasks_to_complete = list(self.TASK_ELEMENTS)
+        return super(KitchenBase, self).reset_model()
+
+    def _get_reward_n_score(self, obs_dict):
+        reward_dict, score = super(KitchenBase, self)._get_reward_n_score(obs_dict)
+        reward = 0.0
+        next_q_obs = obs_dict["qp"]
+        next_obj_obs = obs_dict["obj_qp"]
+        next_goal = self._get_task_goal(
+            task=self.TASK_ELEMENTS, actually_return_goal=True
+        )  # obs_dict['goal']
+        idx_offset = len(next_q_obs)
+        completions = []
+        all_completed_so_far = True
+        for element in self.tasks_to_complete:
+            element_idx = OBS_ELEMENT_INDICES[element]
+            distance = np.linalg.norm(
+                next_obj_obs[..., element_idx - idx_offset] - next_goal[element_idx]
+            )
+            complete = distance < BONUS_THRESH
+            condition = (
+                complete and all_completed_so_far
+                if not self.COMPLETE_IN_ANY_ORDER
+                else complete
+            )
+            if condition:  # element == self.tasks_to_complete[0]:
+                print("Task {} completed!".format(element))
+                completions.append(element)
+            all_completed_so_far = all_completed_so_far and complete
+        if self.REMOVE_TASKS_WHEN_COMPLETE:
+            [self.tasks_to_complete.remove(element) for element in completions]
+        bonus = float(len(completions))
+        reward_dict["bonus"] = bonus
+        reward_dict["r_total"] = bonus
+        score = bonus
+        return reward_dict, score
+
+    def step(self, a, b=None):
+        obs, reward, done, env_info = super(KitchenBase, self).step(a, b=b)
+        if self.TERMINATE_ON_TASK_COMPLETE:
+            done = not self.tasks_to_complete
+        if self.TERMINATE_ON_WRONG_COMPLETE:
+            all_goal = self._get_task_goal(task=self.ALL_TASKS)
+            for wrong_task in list(set(self.ALL_TASKS) - set(self.TASK_ELEMENTS)):
+                element_idx = OBS_ELEMENT_INDICES[wrong_task]
+                distance = np.linalg.norm(obs[..., element_idx] - all_goal[element_idx])
+                complete = distance < BONUS_THRESH
+                if complete:
+                    done = True
+                    break
+        env_info["completed_tasks"] = set(self.TASK_ELEMENTS) - set(
+            self.tasks_to_complete
+        )
+        return obs, reward, done, env_info
+
+    def get_goal(self):
+        """Loads goal state from dataset for goal-conditioned approaches (like RPL)."""
+        raise NotImplementedError
+
+    def _split_data_into_seqs(self, data):
+        """Splits dataset object into list of sequence dicts."""
+        seq_end_idxs = np.where(data["terminals"])[0]
+        start = 0
+        seqs = []
+        for end_idx in seq_end_idxs:
+            seqs.append(
+                dict(
+                    states=data["observations"][start : end_idx + 1],
+                    actions=data["actions"][start : end_idx + 1],
+                )
+            )
+            start = end_idx + 1
+        return seqs

third_party/diffusion_policy/diffusion_policy/env/kitchen/kitchen_lowdim_wrapper.py

@@ -0,0 +1,49 @@
+from typing import List, Dict, Optional, Optional
+import numpy as np
+import gym
+from gym.spaces import Box
+from diffusion_policy.env.kitchen.base import KitchenBase
+
+class KitchenLowdimWrapper(gym.Env):
+    def __init__(self,
+            env: KitchenBase,
+            init_qpos: Optional[np.ndarray]=None,
+            init_qvel: Optional[np.ndarray]=None,
+            render_hw = (240,360)
+        ):
+        self.env = env
+        self.init_qpos = init_qpos
+        self.init_qvel = init_qvel
+        self.render_hw = render_hw
+
+    @property
+    def action_space(self):
+        return self.env.action_space
+    
+    @property
+    def observation_space(self):
+        return self.env.observation_space
+
+    def seed(self, seed=None):
+        return self.env.seed(seed)
+
+    def reset(self):
+        if self.init_qpos is not None:
+            # reset anyway to be safe, not very expensive
+            _ = self.env.reset()
+            # start from known state
+            self.env.set_state(self.init_qpos, self.init_qvel)
+            obs = self.env._get_obs()
+            return obs
+            # obs, _, _, _ = self.env.step(np.zeros_like(
+            #     self.action_space.sample()))
+            # return obs
+        else:
+            return self.env.reset()
+
+    def render(self, mode='rgb_array'):
+        h, w = self.render_hw
+        return self.env.render(mode=mode, width=w, height=h)
+    
+    def step(self, a):
+        return self.env.step(a)

third_party/diffusion_policy/diffusion_policy/env/kitchen/kitchen_util.py

@@ -0,0 +1,51 @@
+import struct
+import numpy as np
+
+def parse_mjl_logs(read_filename, skipamount):
+    with open(read_filename, mode='rb') as file:
+        fileContent = file.read()
+    headers = struct.unpack('iiiiiii', fileContent[:28])
+    nq = headers[0]
+    nv = headers[1]
+    nu = headers[2]
+    nmocap = headers[3]
+    nsensordata = headers[4]
+    nuserdata = headers[5]
+    name_len = headers[6]
+    name = struct.unpack(str(name_len) + 's', fileContent[28:28+name_len])[0]
+    rem_size = len(fileContent[28 + name_len:])
+    num_floats = int(rem_size/4)
+    dat = np.asarray(struct.unpack(str(num_floats) + 'f', fileContent[28+name_len:]))
+    recsz = 1 + nq + nv + nu + 7*nmocap + nsensordata + nuserdata
+    if rem_size % recsz != 0:
+        print("ERROR")
+    else:
+        dat = np.reshape(dat, (int(len(dat)/recsz), recsz))
+        dat = dat.T
+
+    time = dat[0,:][::skipamount] - 0*dat[0, 0]
+    qpos = dat[1:nq + 1, :].T[::skipamount, :]
+    qvel = dat[nq+1:nq+nv+1,:].T[::skipamount, :]
+    ctrl = dat[nq+nv+1:nq+nv+nu+1,:].T[::skipamount,:]
+    mocap_pos = dat[nq+nv+nu+1:nq+nv+nu+3*nmocap+1,:].T[::skipamount, :]
+    mocap_quat = dat[nq+nv+nu+3*nmocap+1:nq+nv+nu+7*nmocap+1,:].T[::skipamount, :]
+    sensordata = dat[nq+nv+nu+7*nmocap+1:nq+nv+nu+7*nmocap+nsensordata+1,:].T[::skipamount,:]
+    userdata = dat[nq+nv+nu+7*nmocap+nsensordata+1:,:].T[::skipamount,:]
+
+    data = dict(nq=nq,
+               nv=nv,
+               nu=nu,
+               nmocap=nmocap,
+               nsensordata=nsensordata,
+               name=name,
+               time=time,
+               qpos=qpos,
+               qvel=qvel,
+               ctrl=ctrl,
+               mocap_pos=mocap_pos,
+               mocap_quat=mocap_quat,
+               sensordata=sensordata,
+               userdata=userdata,
+               logName = read_filename
+               )
+    return data

third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
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+
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third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/README.md

@@ -0,0 +1,9 @@
+# franka
+Franka panda mujoco models
+
+
+# Environment
+
+franka_panda.xml           |  coming soon
+:-------------------------:|:-------------------------:
+![Alt text](franka_panda.png?raw=false "sawyer") |  coming soon

third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/assets/actuator0.xml

@@ -0,0 +1,17 @@
+<!-- Modified from the original source code at
+        1) https://github.com/vikashplus/franka
+    which was originally written by Vikash Kumar and licensed under the Apache License= -->
+
+<mujocoinclude>
+	<actuator>
+        <position name="panda0_joint1" joint="panda0_joint1" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
+        <position name="panda0_joint2" joint="panda0_joint2" class="panda" kp="870" forcerange="-87 87" ctrlrange="-1.8326 1.8326"/> <!-- velocity="2.1750" -->
+        <position name="panda0_joint3" joint="panda0_joint3" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
+        <position name="panda0_joint4" joint="panda0_joint4" class="panda" kp="870" forcerange="-87 87" ctrlrange="-3.1416 0.0"/> <!-- velocity="2.1750" -->
+        <position name="panda0_joint5" joint="panda0_joint5" class="panda" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.6100" -->
+        <position name="panda0_joint6" joint="panda0_joint6" class="panda" kp="120" forcerange="-12 12" ctrlrange="-3.7525 2.1817"/> <!-- velocity="2.6100" -->
+        <position name="panda0_joint7" joint="panda0_joint7" class="panda" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.9671" -->
+        <position name="r_gripper_finger_joint" joint="panda0_finger_joint1" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/> <!-- velocity=".2" -->
+        <position name="l_gripper_finger_joint" joint="panda0_finger_joint2" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/> <!-- velocity=".2" -->
+    </actuator>
+</mujocoinclude>

third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/assets/actuator1.xml

@@ -0,0 +1,13 @@
+<mujocoinclude>
+	<actuator>
+        <position name="panda1_joint1" joint="panda1_joint1" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
+        <position name="panda1_joint2" joint="panda1_joint2" class="panda" kp="870" forcerange="-87 87" ctrlrange="-1.8326 1.8326"/> <!-- velocity="2.1750" -->
+        <position name="panda1_joint3" joint="panda1_joint3" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
+        <position name="panda1_joint4" joint="panda1_joint4" class="panda" kp="870" forcerange="-87 87" ctrlrange="-3.1416 0.0"/> <!-- velocity="2.1750" -->
+        <position name="panda1_joint5" joint="panda1_joint5" class="panda" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.6100" -->
+        <position name="panda1_joint6" joint="panda1_joint6" class="panda" kp="120" forcerange="-12 12" ctrlrange="-0.0873 3.8223"/> <!-- velocity="2.6100" -->
+        <position name="panda1_joint7" joint="panda1_joint7" class="panda" kp="120" forcerange="-12 12" ctrlrange="-0.0873 3.8223"/> <!-- velocity="2.9671" -->
+        <position name="panda1_leftfinger" joint="panda1_finger_joint1" class="panda" kp="20" forcerange="-20 20" ctrlrange="0 0.04"/> <!-- velocity=".2" -->
+        <position name="panda1_rightfinger" joint="panda1_finger_joint2" class="panda" kp="20" forcerange="-20 20" ctrlrange="0 0.04"/> <!-- velocity=".2" -->
+    </actuator>
+</mujocoinclude>

third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/assets/assets.xml

@@ -0,0 +1,63 @@
+<!-- Modified from the original source code at
+        1) https://github.com/vikashplus/franka
+    which was originally written by Vikash Kumar and licensed under the Apache License= -->
+<mujocoinclude>
+    <compiler angle="radian"/>
+    <!-- <option timestep="0.002" noslip_iterations="20"/> -->
+    <option timestep="0.002"/>
+    <size nuser_actuator="5"/>
+
+    <asset>
+        <mesh name="link0_col" file="../../third_party/franka/meshes/collision/link0.stl"/>
+        <mesh name="link1_col" file="../../third_party/franka/meshes/collision/link1.stl"/>
+        <mesh name="link2_col" file="../../third_party/franka/meshes/collision/link2.stl"/>
+        <mesh name="link3_col" file="../../third_party/franka/meshes/collision/link3.stl"/>
+        <mesh name="link4_col" file="../../third_party/franka/meshes/collision/link4.stl"/>
+        <mesh name="link5_col" file="../../third_party/franka/meshes/collision/link5.stl"/>
+        <mesh name="link6_col" file="../../third_party/franka/meshes/collision/link6.stl"/>
+        <mesh name="link7_col" file="../../third_party/franka/meshes/collision/link7.stl"/>
+        <mesh name="hand_col" file="../../third_party/franka/meshes/collision/hand.stl"/>
+        <mesh name="finger_col" file="../../third_party/franka/meshes/collision/finger.stl" scale='1.75 1.0 1.75'/>
+        <mesh name="link0_viz" file="../../third_party/franka/meshes/visual/link0.stl"/>
+        <mesh name="link1_viz" file="../../third_party/franka/meshes/visual/link1.stl"/>
+        <mesh name="link2_viz" file="../../third_party/franka/meshes/visual/link2.stl"/>
+        <mesh name="link3_viz" file="../../third_party/franka/meshes/visual/link3.stl"/>
+        <mesh name="link4_viz" file="../../third_party/franka/meshes/visual/link4.stl"/>
+        <mesh name="link5_viz" file="../../third_party/franka/meshes/visual/link5.stl"/>
+        <mesh name="link6_viz" file="../../third_party/franka/meshes/visual/link6.stl"/>
+        <mesh name="link7_viz" file="../../third_party/franka/meshes/visual/link7.stl"/>
+        <mesh name="hand_viz" file="../../third_party/franka/meshes/visual/hand.stl"/>
+        <mesh name="finger_viz" file="../../third_party/franka/meshes/collision/finger.stl" scale='1.75 1.0 1.75'/>
+
+    </asset>
+
+    <default>
+        <default class="panda">
+            <joint pos="0 0 0" axis="0 0 1" limited="true"/>
+            <position forcelimited="true" ctrllimited="true" user="1002 40 2001 -0.005 0.005"/>
+            <default class="panda_viz">
+                <geom contype="0" conaffinity="0" group="0" type="mesh" rgba=".95 .99 .92 1" mass="0"/>
+            </default>
+
+            <default class="panda_col">
+                <geom contype="1" conaffinity="1" group="3" type="mesh" rgba=".5 .6 .7 1"/>
+            </default>
+            <default class="panda_arm">
+                <joint damping="100"/>
+            </default>
+             <default class="panda_forearm">
+                <joint damping="10"/>
+            </default>
+             <default class="panda_finger">
+                <joint damping="100" armature='5'/>
+                <geom friction="1 0.5 0.0001" solref="0.01 1" solimp="0.8 0.9 0.001" margin="0.001" user="0" rgba="0.5 0.6 0.7 .4" contype="1" conaffinity="0" condim="6" group="3" />
+                <position user="1002 40 2001 -0.0001 0.0001"/>
+            </default>
+        </default>
+
+        <default class="panda_overlay">
+            <joint limited="false" damping="1000" armature="1" frictionloss="10"/>
+            <geom contype="0" conaffinity="0" group="2" type="mesh" rgba=".42 0.42 0.42 .5"/>
+        </default>
+    </default>
+</mujocoinclude>

third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/assets/chain0_overlay.xml

@@ -0,0 +1,62 @@
+<!-- Robot limits pulled from https://frankaemika.github.io/docs/control_parameters.html#constants -->
+<!-- Added this new file to the original source code at
+        1) https://github.com/vikashplus/franka
+    which was originally written by Vikash Kumar and licensed under the Apache License= -->
+
+<!--Copyright 2020 Google LLC-->
+
+<!--Licensed under the Apache License, Version 2.0 (the "License");-->
+<!--you may not use this file except in compliance with the License.-->
+<!--You may obtain a copy of the License at-->
+
+    <!--https://www.apache.org/licenses/LICENSE-2.0-->
+
+<!--Unless required by applicable law or agreed to in writing, software-->
+<!--distributed under the License is distributed on an "AS IS" BASIS,-->
+<!--WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.-->
+<!--See the License for the specific language governing permissions and-->
+<!--limitations under the License.-->
+
+<mujocoinclude>
+	<body name="_panda0_link0" childclass="panda_overlay" >
+        <geom mesh="link0_viz"/>
+        <body name="_panda0_link1" pos="0 0 0.333">
+            <joint name="_panda0_joint1" range="-2.8973 2.8973"/>
+            <geom mesh="link1_viz"/>
+            <body name="_panda0_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
+                <joint name="_panda0_joint2" range="-1.7628 1.7628"/>
+                <geom mesh="link2_viz"/>
+                <body name="_panda0_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
+                    <joint name="_panda0_joint3" range="-2.8973 2.8973"/>
+                    <geom mesh="link3_viz"/>
+                    <body name="_panda0_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
+                        <joint name="_panda0_joint4" range="-3.0718 -0.4"/>
+                        <geom mesh="link4_viz"/>
+                        <body name="_panda0_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
+                            <joint name="_panda0_joint5" range="-2.8973 2.8973"/>
+                            <geom mesh="link5_viz"/>
+                            <body name="_panda0_link6" pos="0 0 0" euler="1.57 0 1.57">
+                                <joint name="_panda0_joint6" range="-1.6573 2.1127"/>
+                                <geom mesh="link6_viz"/>
+                                <body name="_panda0_link7" pos="0.088 0 0" euler="1.57 0 0.7854">
+                                    <joint name="_panda0_joint7" range="-2.8973 2.8973"/>
+                                    <geom mesh="link7_viz"/>
+                                    <geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" mesh="hand_viz"/>
+                                    <site name="_end_effector" pos="0 0 .210" size="0.01" euler="0 0 -0.785398"/>
+                                    <body name="_panda0_leftfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683">
+                                        <joint name="_panda0_finger_joint1"  axis="0 1 0" type="slide" range="0 0.04"/>
+                                        <geom mesh="finger_viz"/>
+                                    </body>
+                                    <body name="_panda0_rightfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683">
+                                        <joint name="_panda0_finger_joint2" axis="0 -1 0" type="slide" range="0 0.04"/>
+                                        <geom quat="0 0 0 1" mesh="finger_viz"/>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujocoinclude>

third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/assets/teleop_actuator.xml

@@ -0,0 +1,24 @@
+<!-- Copied from actuator0.xml -->
+<!-- Added new file to the original source code at
+        1) https://github.com/vikashplus/franka
+    which was originally written by Vikash Kumar and licensed under the Apache License= -->
+
+<!--Copyright 2020 Google LLC-->
+
+<!--Licensed under the Apache License, Version 2.0 (the "License");-->
+<!--you may not use this file except in compliance with the License.-->
+<!--You may obtain a copy of the License at-->
+
+    <!--https://www.apache.org/licenses/LICENSE-2.0-->
+
+<!--Unless required by applicable law or agreed to in writing, software-->
+<!--distributed under the License is distributed on an "AS IS" BASIS,-->
+<!--WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.-->
+<!--See the License for the specific language governing permissions and-->
+<!--limitations under the License.-->
+<mujocoinclude>
+	<actuator>
+    <position name="r_gripper_finger_joint" joint="panda0_finger_joint1" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.08"/> <!-- velocity=".2" -->
+    <position name="l_gripper_finger_joint" joint="panda0_finger_joint2" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.08"/> <!-- velocity=".2" -->
+  </actuator>
+</mujocoinclude>

third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/bi-franka_panda.xml

@@ -0,0 +1,81 @@
+<!-- Modified from the original source code at
+        1) https://github.com/vikashplus/franka
+    which was originally written by Vikash Kumar and licensed under the Apache License= -->
+
+<!-- Copyright | Vikash Kumar | vikashplus@gmail.com | Google LLC ==============
+    Model       :: Bi-Franka Panda
+
+    Mujoco      :: Advanced physics simulation engine
+        Source      : www.roboti.us
+        Version     : 2.00
+        Released    : 1Oct"18
+
+    Author      :: Vikash Kumar
+        Contacts    : vikashplus@gmail.com
+        Last edits  : 14Dec"18
+
+    source:
+        1) https://github.com/vikashplus/franka
+        2) https://github.com/frankaemika/franka_ros
+        3) https://github.com/StanfordASL/PandaRobot.jl
+
+    Copyright 2018 Vikash Kumar
+        Licensed under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+================================================================================= -->
+
+<mujoco model="bi-franka_panda v200">
+
+    <include file="assets/basic_scene.xml"/>
+    <include file="assets/assets.xml"/>
+    <include file="../furniture/studyTable/studyTable_asset.xml"/>
+    <include file="../furniture/lightButtons/lightButtons_assets.xml"/>
+
+    <compiler meshdir=""/>
+
+    <default>
+        <default class='torso'>
+            <geom group='2' contype='0' conaffinity='0' rgba='.2 .2 .3 1'/>
+        </default>/
+    </default>
+
+    <worldbody>
+
+        <body name='torso' childclass='torso'>
+            <geom name='head' type='ellipsoid' size='.1 .09 .13' pos='0 0 1.835' euler='-.2 0 0'/>
+            <geom name='shoulders' type='capsule' size='.09' fromto='.15 0 1.6 -.15 0 1.6'/>
+            <geom name='absL' type='capsule' size='.09' fromto='.15 0 1.6 0.05 0 1.05'/>
+            <geom name='absR' type='capsule' size='.09' fromto='-.15 0 1.6 -.05 0 1.05'/>
+            <geom name='legs' type='capsule' size='.135' fromto='0 0 1.05 0 0 0.05'/>
+
+            <body name='leftarm' pos='0 0 1.6' euler='0 -1.57 1.57'>
+                <include file="assets/chain0.xml"/>
+            </body>
+
+            <body name='rightarm' pos='0 0 1.6' euler='0 1.57 1.57'>
+                <include file="assets/chain1.xml"/>
+            </body>
+
+        </body>
+
+
+        <!-- Study Table -->
+        <body pos='0 0.85 0'>
+            <include file="../furniture/studyTable/studyTable_body.xml"/>
+        </body>
+
+        <!-- Buttons -->
+        <body pos='-.25 0.625 .76'>
+            <include file="../furniture/lightButtons/buttons_body.xml"/>
+        </body>
+
+        <!-- Lights -->
+        <body pos='-.25 0.85 1.1'>
+            <include file="../furniture/lightButtons/lights_body.xml"/>
+        </body>
+
+    </worldbody>
+
+    <include file='assets/actuator0.xml'/>
+    <include file='assets/actuator1.xml'/>
+
+</mujoco>

third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/franka_panda.xml

@@ -0,0 +1,38 @@
+<!-- Modified from the original source code at
+        1) https://github.com/vikashplus/franka
+    which was originally written by Vikash Kumar and licensed under the Apache License= -->
+
+<!-- ORIGINAL LICENSE: ===========Copyright | Vikash Kumar | vikashplus@gmail.com | Google LLC    ==============
+    Model       :: Bi-Franka Panda
+
+    Mujoco      :: Advanced physics simulation engine
+        Source      : www.roboti.us
+        Version     : 2.00
+        Released    : 1Oct"18
+
+    Author      :: Vikash Kumar
+        Contacts    : vikashplus@gmail.com
+        Last edits  : 14Dec"18
+
+    source:
+        1) https://github.com/vikashplus/franka
+        2) https://github.com/frankaemika/franka_ros
+        3) https://github.com/StanfordASL/PandaRobot.jl
+
+    Copyright 2018 Vikash Kumar
+        Licensed under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+================================================================================= -->
+
+<mujoco model="franka_panda v200">
+
+    <include file="assets/basic_scene.xml"/>
+    <include file="assets/assets.xml"/>
+    <compiler meshdir=""/>
+
+    <worldbody>
+        <include file="assets/chain0.xml"/>
+    </worldbody>
+
+    <include file='assets/actuator0.xml'/>
+
+</mujoco>

third_party/diffusion_policy/diffusion_policy/env/kitchen/relay_policy_learning/third_party/franka/franka_panda_teleop.xml

@@ -0,0 +1,54 @@
+<!-- Modified from the original source code at
+        1) https://github.com/vikashplus/franka
+    which was originally written by Vikash Kumar and licensed under the Apache License= -->
+
+<!-- ORIGINAL LICENSE: ===========Copyright | Vikash Kumar | vikashplus@gmail.com | Google LLC ==============
+    Model       :: Bi-Franka Panda
+
+    Mujoco      :: Advanced physics simulation engine
+        Source      : www.roboti.us
+        Version     : 2.00
+        Released    : 1Oct"18
+
+    Author      :: Vikash Kumar
+        Contacts    : vikashplus@gmail.com
+        Last edits  : 14Dec"18
+
+    source:
+        1) https://github.com/vikashplus/franka
+        2) https://github.com/frankaemika/franka_ros
+        3) https://github.com/StanfordASL/PandaRobot.jl
+
+    Copyright 2018 Vikash Kumar
+        Licensed under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+================================================================================= -->
+
+<mujoco model="franka_panda v200">
+
+    <include file="assets/basic_scene.xml"/>
+    <include file="assets/assets.xml"/>
+    <compiler meshdir=""/>
+
+    <equality>
+      <weld body1="vive_controller" body2="panda0_link7" solref="0.01 1" solimp=".25 .25 0.001"/>
+    </equality>
+
+
+    <worldbody>
+        <!-- Mocap -->
+        <body name="vive_controller" mocap="true" pos="0 0 1.895" euler="-1.57 0 -.785">
+            <geom type="box" group="2" pos='0 0 .142' size="0.02 0.10 0.03" contype="0" conaffinity="0" rgba=".9 .7 .95 .2" euler="0 0 -.785"/>
+        </body>
+
+        <!-- Robot -->
+        <body pos='0 0 .775' euler='0 0 1.57'>
+            <geom type='cylinder' size='.120 .4' pos='-.04 0 -.4'/>
+            <include file="assets/chain0.xml"/>
+            <include file="assets/chain0_overlay.xml"/>
+        </body>
+
+    </worldbody>
+
+
+    <include file='assets/teleop_actuator.xml'/>
+</mujoco>