├── .flake8 ├── .gitignore ├── LICENSE ├── README.md ├── asset ├── .DS_Store ├── logo_wide.png └── picor_framework.png ├── libs ├── custom_dmc2gym │ ├── LICENSE │ ├── README.md │ ├── dmc2gym │ │ ├── __init__.py │ │ └── wrappers.py │ └── setup.py └── custom_dmcontrol │ ├── AUTHORS │ ├── CONTRIBUTING.md │ ├── LICENSE │ ├── README.md │ ├── dm_control │ ├── __init__.py │ ├── _render │ │ ├── __init__.py │ │ ├── base.py │ │ ├── base_test.py │ │ ├── constants.py │ │ ├── executor │ │ │ ├── __init__.py │ │ │ ├── render_executor.py │ │ │ └── render_executor_test.py │ │ ├── glfw_renderer.py │ │ ├── glfw_renderer_test.py │ │ └── pyopengl │ │ │ ├── __init__.py │ │ │ ├── egl_ext.py │ │ │ ├── egl_renderer.py │ │ │ ├── osmesa_renderer.py │ │ │ └── osmesa_renderer_test.py │ ├── autowrap │ │ ├── __init__.py │ │ ├── autowrap.py │ │ ├── binding_generator.py │ │ ├── c_declarations.py │ │ ├── codegen_util.py │ │ └── header_parsing.py │ ├── composer │ │ ├── __init__.py │ │ ├── arena.py │ │ ├── arena.xml │ │ ├── constants.py │ │ ├── define.py │ │ ├── entity.py │ │ ├── entity_test.py │ │ ├── environment.py │ │ ├── environment_hooks_test.py │ │ ├── environment_test.py │ │ ├── hooks_test_utils.py │ │ ├── initializer.py │ │ ├── initializers │ │ │ ├── __init__.py │ │ │ ├── prop_initializer.py │ │ │ ├── prop_initializer_test.py │ │ │ ├── tcp_initializer.py │ │ │ ├── tcp_initializer_test.py │ │ │ └── utils.py │ │ ├── observation │ │ │ ├── __init__.py │ │ │ ├── fake_physics.py │ │ │ ├── obs_buffer.py │ │ │ ├── obs_buffer_test.py │ │ │ ├── observable │ │ │ │ ├── __init__.py │ │ │ │ ├── base.py │ │ │ │ ├── base_test.py │ │ │ │ ├── mjcf.py │ │ │ │ └── mjcf_test.py │ │ │ ├── updater.py │ │ │ └── updater_test.py │ │ ├── robot.py │ │ ├── task.py │ │ └── variation │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── colors.py │ │ │ ├── deterministic.py │ │ │ ├── distributions.py │ │ │ ├── distributions_test.py │ │ │ ├── noises.py │ │ │ ├── noises_test.py │ │ │ ├── rotations.py │ │ │ ├── variation_test.py │ │ │ └── variation_values.py │ ├── entities │ │ ├── __init__.py │ │ ├── manipulators │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ └── kinova │ │ │ │ ├── __init__.py │ │ │ │ ├── assets_path.py │ │ │ │ ├── jaco_arm.py │ │ │ │ ├── jaco_hand.py │ │ │ │ └── kinova_test.py │ │ └── props │ │ │ ├── __init__.py │ │ │ ├── duplo │ │ │ ├── __init__.py │ │ │ ├── autotune.py │ │ │ ├── duplo2x4.xml │ │ │ ├── duplo_test.py │ │ │ └── utils.py │ │ │ ├── position_detector.py │ │ │ ├── position_detector_test.py │ │ │ ├── primitive.py │ │ │ └── primitive_test.py │ ├── locomotion │ │ ├── __init__.py │ │ ├── arenas │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── __init__.py │ │ │ │ └── outdoor_natural │ │ │ │ │ ├── OutdoorGrassFloorD.png │ │ │ │ │ └── OutdoorSkybox2048.png │ │ │ ├── bowl.py │ │ │ ├── bowl_test.py │ │ │ ├── corridors.py │ │ │ ├── corridors_test.py │ │ │ ├── covering.py │ │ │ ├── covering_test.py │ │ │ ├── floors.py │ │ │ ├── floors_test.py │ │ │ ├── labmaze_textures.py │ │ │ ├── mazes.py │ │ │ └── mazes_test.py │ │ ├── examples │ │ │ ├── __init__.py │ │ │ ├── basic_cmu_2019.py │ │ │ ├── basic_rodent_2020.py │ │ │ ├── cmu_2020_tracking.py │ │ │ ├── examples_test.py │ │ │ └── explore.py │ │ ├── gaps.png │ │ ├── mocap │ │ │ ├── __init__.py │ │ │ ├── cmu_mocap_data.py │ │ │ ├── loader.py │ │ │ ├── loader_test.py │ │ │ ├── mocap_pb2.py │ │ │ ├── props.py │ │ │ ├── test_001.textproto │ │ │ ├── test_002.textproto │ │ │ ├── test_trajectories.h5 │ │ │ ├── trajectory.py │ │ │ └── walkers.py │ │ ├── props │ │ │ ├── __init__.py │ │ │ ├── target_sphere.py │ │ │ └── target_sphere_test.py │ │ ├── soccer │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── boxhead │ │ │ │ │ ├── boxhead.xml │ │ │ │ │ └── digits │ │ │ │ │ │ ├── 00.png │ │ │ │ │ │ ├── 01.png │ │ │ │ │ │ ├── 02.png │ │ │ │ │ │ ├── 03.png │ │ │ │ │ │ ├── 04.png │ │ │ │ │ │ ├── 05.png │ │ │ │ │ │ ├── 06.png │ │ │ │ │ │ ├── 07.png │ │ │ │ │ │ ├── 08.png │ │ │ │ │ │ ├── 09.png │ │ │ │ │ │ └── 10.png │ │ │ │ ├── pitch │ │ │ │ │ ├── pitch_l.png │ │ │ │ │ ├── pitch_m.png │ │ │ │ │ ├── pitch_nologo_l.png │ │ │ │ │ ├── pitch_nologo_m.png │ │ │ │ │ ├── pitch_nologo_s.png │ │ │ │ │ ├── pitch_nologo_xs.png │ │ │ │ │ ├── pitch_s.png │ │ │ │ │ └── pitch_xs.png │ │ │ │ └── soccer_ball │ │ │ │ │ ├── back.png │ │ │ │ │ ├── down.png │ │ │ │ │ ├── front.png │ │ │ │ │ ├── left.png │ │ │ │ │ ├── right.png │ │ │ │ │ └── up.png │ │ │ ├── boxhead.py │ │ │ ├── boxhead_test.py │ │ │ ├── camera.py │ │ │ ├── explore.py │ │ │ ├── initializers.py │ │ │ ├── loader_test.py │ │ │ ├── observables.py │ │ │ ├── pitch.py │ │ │ ├── pitch_test.py │ │ │ ├── soccer.png │ │ │ ├── soccer_ball.py │ │ │ ├── soccer_ball_test.py │ │ │ ├── task.py │ │ │ ├── task_test.py │ │ │ └── team.py │ │ ├── tasks │ │ │ ├── __init__.py │ │ │ ├── corridors.py │ │ │ ├── corridors_test.py │ │ │ ├── escape.py │ │ │ ├── escape_test.py │ │ │ ├── go_to_target.py │ │ │ ├── go_to_target_test.py │ │ │ ├── random_goal_maze.py │ │ │ ├── random_goal_maze_test.py │ │ │ ├── reach.py │ │ │ ├── reach_test.py │ │ │ └── reference_pose │ │ │ │ ├── __init__.py │ │ │ │ ├── cmu_subsets.py │ │ │ │ ├── datasets.py │ │ │ │ ├── rewards.py │ │ │ │ ├── tracking.py │ │ │ │ ├── tracking_test.py │ │ │ │ ├── types.py │ │ │ │ └── utils.py │ │ ├── walkers │ │ │ ├── __init__.py │ │ │ ├── ant.py │ │ │ ├── ant_test.py │ │ │ ├── assets │ │ │ │ ├── humanoid_CMU_V2019.xml │ │ │ │ ├── humanoid_CMU_V2020.xml │ │ │ │ ├── jumping_ball │ │ │ │ │ ├── jumping_ball_body.png │ │ │ │ │ └── jumping_ball_with_head.xml │ │ │ │ ├── rodent.xml │ │ │ │ └── rodent_walker_skin.skn │ │ │ ├── base.py │ │ │ ├── base_test.py │ │ │ ├── cmu_humanoid.py │ │ │ ├── cmu_humanoid_test.py │ │ │ ├── initializers │ │ │ │ └── __init__.py │ │ │ ├── jumping_ball.py │ │ │ ├── jumping_ball_test.py │ │ │ ├── legacy_base.py │ │ │ ├── rescale.py │ │ │ ├── rescale_test.py │ │ │ ├── rodent.py │ │ │ ├── rodent_test.py │ │ │ ├── scaled_actuators.py │ │ │ └── scaled_actuators_test.py │ │ └── walls.png │ ├── manipulation │ │ ├── __init__.py │ │ ├── bricks.py │ │ ├── explore.py │ │ ├── lift.py │ │ ├── manipulation_test.py │ │ ├── place.py │ │ ├── reach.py │ │ └── shared │ │ │ ├── __init__.py │ │ │ ├── arenas.py │ │ │ ├── cameras.py │ │ │ ├── constants.py │ │ │ ├── observations.py │ │ │ ├── registry.py │ │ │ ├── robots.py │ │ │ ├── tags.py │ │ │ └── workspaces.py │ ├── mjcf │ │ ├── __init__.py │ │ ├── attribute.py │ │ ├── attribute_test.py │ │ ├── base.py │ │ ├── code_for_debugging_test.py │ │ ├── constants.py │ │ ├── copier.py │ │ ├── copier_test.py │ │ ├── debugging.py │ │ ├── debugging_test.py │ │ ├── element.py │ │ ├── element_test.py │ │ ├── export_with_assets.py │ │ ├── export_with_assets_as_zip.py │ │ ├── export_with_assets_as_zip_test.py │ │ ├── export_with_assets_test.py │ │ ├── namescope.py │ │ ├── parser.py │ │ ├── physics.py │ │ ├── physics_test.py │ │ ├── schema.py │ │ ├── schema.xml │ │ ├── skin.py │ │ ├── skin_test.py │ │ ├── test_assets │ │ │ ├── arena.xml │ │ │ ├── attribute_test_schema.xml │ │ │ ├── included.xml │ │ │ ├── included_with_invalid_filenames.xml │ │ │ ├── lego_brick.xml │ │ │ ├── meshes │ │ │ │ ├── cube.msh │ │ │ │ ├── cube.stl │ │ │ │ └── more_meshes │ │ │ │ │ └── cube.stl │ │ │ ├── model_with_assets.xml │ │ │ ├── model_with_include.xml │ │ │ ├── model_with_invalid_filenames.xml │ │ │ ├── model_with_nameless_assets.xml │ │ │ ├── robot_arm.xml │ │ │ ├── skins │ │ │ │ └── test_skin.skn │ │ │ ├── test_model.xml │ │ │ └── textures │ │ │ │ └── deepmind.png │ │ ├── traversal_utils.py │ │ ├── traversal_utils_test.py │ │ └── xml_validation_test.py │ ├── mujoco │ │ ├── __init__.py │ │ ├── engine.py │ │ ├── engine_test.py │ │ ├── index.py │ │ ├── index_test.py │ │ ├── math.py │ │ ├── math_test.py │ │ ├── render_test.py │ │ ├── testing │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── __init__.py │ │ │ │ ├── arm.xml │ │ │ │ ├── cartpole.xml │ │ │ │ ├── cartpole_no_names.xml │ │ │ │ ├── cube.stl │ │ │ │ ├── deepmind.png │ │ │ │ ├── frames │ │ │ │ │ ├── cartpole_seed_0_camera_0_320x240_hardware │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── cartpole_seed_0_camera_0_320x240_software │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_hardware │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_hardware_reflection_False_shadow_False │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_software │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_0_240x320_software_reflection_False_shadow_False │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ ├── humanoid_seed_0_camera_head_track_64x64_hardware │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ │ └── humanoid_seed_0_camera_head_track_64x64_software │ │ │ │ │ │ ├── frame_000.png │ │ │ │ │ │ ├── frame_001.png │ │ │ │ │ │ ├── frame_002.png │ │ │ │ │ │ ├── frame_003.png │ │ │ │ │ │ ├── frame_004.png │ │ │ │ │ │ ├── frame_005.png │ │ │ │ │ │ ├── frame_006.png │ │ │ │ │ │ ├── frame_007.png │ │ │ │ │ │ ├── frame_008.png │ │ │ │ │ │ ├── frame_009.png │ │ │ │ │ │ ├── frame_010.png │ │ │ │ │ │ ├── frame_011.png │ │ │ │ │ │ ├── frame_012.png │ │ │ │ │ │ ├── frame_013.png │ │ │ │ │ │ ├── frame_014.png │ │ │ │ │ │ ├── frame_015.png │ │ │ │ │ │ ├── frame_016.png │ │ │ │ │ │ ├── frame_017.png │ │ │ │ │ │ ├── frame_018.png │ │ │ │ │ │ └── frame_019.png │ │ │ │ ├── humanoid.xml │ │ │ │ ├── model_incorrect_actuator_order.xml │ │ │ │ ├── model_with_assets.xml │ │ │ │ ├── model_with_ball_joints.xml │ │ │ │ ├── model_with_third_order_actuators.xml │ │ │ │ └── sphere.xml │ │ │ ├── decorators.py │ │ │ ├── decorators_test.py │ │ │ ├── generate_frames.py │ │ │ ├── image_utils.py │ │ │ └── image_utils_test.py │ │ ├── thread_safety_test.py │ │ └── wrapper │ │ │ ├── __init__.py │ │ │ ├── core.py │ │ │ ├── core_test.py │ │ │ ├── mjbindings │ │ │ ├── __init__.py │ │ │ ├── constants.py │ │ │ ├── enums.py │ │ │ ├── functions.py │ │ │ ├── sizes.py │ │ │ ├── types.py │ │ │ └── wrappers.py │ │ │ ├── mjbindings_test.py │ │ │ ├── util.py │ │ │ └── util_test.py │ ├── rl │ │ ├── __init__.py │ │ ├── control.py │ │ └── control_test.py │ ├── suite │ │ ├── __init__.py │ │ ├── acrobot.py │ │ ├── acrobot.xml │ │ ├── all_domains.png │ │ ├── ball_in_cup.py │ │ ├── ball_in_cup.xml │ │ ├── base.py │ │ ├── cartpole.py │ │ ├── cartpole.xml │ │ ├── cheetah.py │ │ ├── cheetah.xml │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── materials.xml │ │ │ ├── skybox.xml │ │ │ └── visual.xml │ │ ├── demos │ │ │ └── zeros.amc │ │ ├── dog.py │ │ ├── dog.xml │ │ ├── dog_assets │ │ │ ├── BONEC_1.stl │ │ │ ├── BONEC_2.stl │ │ │ ├── BONEC_3.stl │ │ │ ├── BONEC_4.stl │ │ │ ├── BONEC_5.stl │ │ │ ├── BONEC_6.stl │ │ │ ├── BONEC_7.stl │ │ │ ├── BONECa_1.stl │ │ │ ├── BONECa_10.stl │ │ │ ├── BONECa_11.stl │ │ │ ├── BONECa_12.stl │ │ │ ├── BONECa_13.stl │ │ │ ├── BONECa_14.stl │ │ │ ├── BONECa_15.stl │ │ │ ├── BONECa_16.stl │ │ │ ├── BONECa_17.stl │ │ │ ├── BONECa_18.stl │ │ │ ├── BONECa_19.stl │ │ │ ├── BONECa_2.stl │ │ │ ├── BONECa_20.stl │ │ │ ├── BONECa_21.stl │ │ │ ├── BONECa_3.stl │ │ │ ├── BONECa_4.stl │ │ │ ├── BONECa_5.stl │ │ │ ├── BONECa_6.stl │ │ │ ├── BONECa_7.stl │ │ │ ├── BONECa_8.stl │ │ │ ├── BONECa_9.stl │ │ │ ├── BONECalcaneal_tuber_L.stl │ │ │ ├── BONECalcaneal_tuber_R.stl │ │ │ ├── BONECarpal_III_L.stl │ │ │ ├── BONECarpal_III_R.stl │ │ │ ├── BONECarpal_II_L.stl │ │ │ ├── BONECarpal_II_R.stl │ │ │ ├── BONECarpal_IV_L.stl │ │ │ ├── BONECarpal_IV_R.stl │ │ │ ├── BONECarpal_I_L.stl │ │ │ ├── BONECarpal_I_R.stl │ │ │ ├── BONECarpal_L.stl │ │ │ ├── BONECarpal_R.stl │ │ │ ├── BONECarpal_Sesamoid_L.stl │ │ │ ├── BONECarpal_Sesamoid_R.stl │ │ │ ├── BONECarpal_accessory_L.stl │ │ │ ├── BONECarpal_accessory_R.stl │ │ │ ├── BONECarpal_ulnar_L.stl │ │ │ ├── BONECarpal_ulnar_R.stl │ │ │ ├── BONEFemoris_L.stl │ │ │ ├── BONEFemoris_R.stl │ │ │ ├── BONEFemoris_fabellae_L_1.stl │ │ │ ├── BONEFemoris_fabellae_L_2.stl │ │ │ ├── BONEFemoris_fabellae_R_1.stl │ │ │ ├── BONEFemoris_fabellae_R_2.stl │ │ │ ├── BONEFibula_L.stl │ │ │ ├── BONEFibula_R.stl │ │ │ ├── BONEJaw.stl │ │ │ ├── BONEL_1.stl │ │ │ ├── BONEL_2.stl │ │ │ ├── BONEL_3.stl │ │ │ ├── BONEL_4.stl │ │ │ ├── BONEL_5.stl │ │ │ ├── BONEL_6.stl │ │ │ ├── BONEL_7.stl │ │ │ ├── BONELingual_bone_1.stl │ │ │ ├── BONELingual_bone_2.stl │ │ │ ├── BONELingual_bone_3.stl │ │ │ ├── BONELingual_bone_4.stl │ │ │ ├── BONELingual_bone_5.stl │ │ │ ├── BONELingual_bone_6.stl │ │ │ ├── BONELingual_bone_7.stl │ │ │ ├── BONELingual_bone_8.stl │ │ │ ├── BONELingual_bone_9.stl │ │ │ ├── BONEMergedSkull.stl │ │ │ ├── BONEMetatarsi_L_1.stl │ │ │ ├── BONEMetatarsi_L_2.stl │ │ │ ├── BONEMetatarsi_L_3.stl │ │ │ ├── BONEMetatarsi_L_4.stl │ │ │ ├── BONEMetatarsi_R_1.stl │ │ │ ├── BONEMetatarsi_R_2.stl │ │ │ ├── BONEMetatarsi_R_3.stl │ │ │ ├── BONEMetatarsi_R_4.stl │ │ │ ├── BONEOs_metacarpale_III_L.stl │ │ │ ├── BONEOs_metacarpale_III_R.stl │ │ │ ├── BONEOs_metacarpale_II_L.stl │ │ │ ├── BONEOs_metacarpale_II_R.stl │ │ │ ├── BONEOs_metacarpale_IV_L.stl │ │ │ ├── BONEOs_metacarpale_IV_R.stl │ │ │ ├── BONEOs_metacarpale_I_L.stl │ │ │ ├── BONEOs_metacarpale_I_R.stl │ │ │ ├── BONEOs_metacarpale_V_L.001.stl │ │ │ ├── BONEOs_metacarpale_V_L.stl │ │ │ ├── BONEOs_metacarpale_V_R.001.stl │ │ │ ├── BONEOs_metacarpale_V_R.stl │ │ │ ├── BONEPatella_L.stl │ │ │ ├── BONEPatella_R.stl │ │ │ ├── BONEPelvis.stl │ │ │ ├── BONEPhalanges_B_2_L_1.stl │ │ │ ├── BONEPhalanges_B_2_L_2.stl │ │ │ ├── BONEPhalanges_B_2_L_3.stl │ │ │ ├── BONEPhalanges_B_2_L_4.stl │ │ │ ├── BONEPhalanges_B_2_R_1.stl │ │ │ ├── BONEPhalanges_B_2_R_2.stl │ │ │ ├── BONEPhalanges_B_2_R_3.stl │ │ │ ├── BONEPhalanges_B_2_R_4.stl │ │ │ ├── BONEPhalanges_B_3_L_1.stl │ │ │ ├── BONEPhalanges_B_3_L_2.stl │ │ │ ├── BONEPhalanges_B_3_L_3.stl │ │ │ ├── BONEPhalanges_B_3_L_4.stl │ │ │ ├── BONEPhalanges_B_3_R_1.stl │ │ │ ├── BONEPhalanges_B_3_R_2.stl │ │ │ ├── BONEPhalanges_B_3_R_3.stl │ │ │ ├── BONEPhalanges_B_3_R_4.stl │ │ │ ├── BONEPhalanges_B_L_1.stl │ │ │ ├── BONEPhalanges_B_L_2.stl │ │ │ ├── BONEPhalanges_B_L_3.stl │ │ │ ├── BONEPhalanges_B_L_4.stl │ │ │ ├── BONEPhalanges_B_R_1.stl │ │ │ ├── BONEPhalanges_B_R_2.stl │ │ │ ├── BONEPhalanges_B_R_3.stl │ │ │ ├── BONEPhalanges_B_R_4.stl │ │ │ ├── BONEPhalanx_distalis_digiti_III_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_III_R.stl │ │ │ ├── BONEPhalanx_distalis_digiti_II_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_II_R.stl │ │ │ ├── BONEPhalanx_distalis_digiti_IV_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_IV_R.stl │ │ │ ├── BONEPhalanx_distalis_digiti_I_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_I_R.stl │ │ │ ├── BONEPhalanx_distalis_digiti_V_L.stl │ │ │ ├── BONEPhalanx_distalis_digiti_V_R.stl │ │ │ ├── BONEPhalanx_media_digiti_III_L.stl │ │ │ ├── BONEPhalanx_media_digiti_III_R.stl │ │ │ ├── BONEPhalanx_media_digiti_II_L.stl │ │ │ ├── BONEPhalanx_media_digiti_II_R.stl │ │ │ ├── BONEPhalanx_media_digiti_IV_L.stl │ │ │ ├── BONEPhalanx_media_digiti_IV_R.stl │ │ │ ├── BONEPhalanx_media_digiti_V_L.stl │ │ │ ├── BONEPhalanx_media_digiti_V_R.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_III_L_.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_III_R.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_II_L.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_II_R.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_IV_L_.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_IV_R.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_V_L.stl │ │ │ ├── BONEPhalanxpmxinutlis_digiti_V_R.stl │ │ │ ├── BONERadius_L.stl │ │ │ ├── BONERadius_R.stl │ │ │ ├── BONERibcage.stl │ │ │ ├── BONESacrum.stl │ │ │ ├── BONEScapula_L.stl │ │ │ ├── BONEScapula_R.stl │ │ │ ├── BONETarsus_L_I.stl │ │ │ ├── BONETarsus_L_II.stl │ │ │ ├── BONETarsus_L_III.stl │ │ │ ├── BONETarsus_L_IV.stl │ │ │ ├── BONETarsus_R_I.stl │ │ │ ├── BONETarsus_R_II.stl │ │ │ ├── BONETarsus_R_III.stl │ │ │ ├── BONETarsus_R_IV.stl │ │ │ ├── BONETarsus_central_L.stl │ │ │ ├── BONETarsus_central_R.stl │ │ │ ├── BONETibia_L.stl │ │ │ ├── BONETibia_R.stl │ │ │ ├── BONETibial_tarsal_L.stl │ │ │ ├── BONETibial_tarsal_R.stl │ │ │ ├── BONEUlna_L.stl │ │ │ ├── BONEUlna_R.stl │ │ │ ├── BONEeye_L.stl │ │ │ ├── BONEeye_R.stl │ │ │ ├── BONEhumerus_L.stl │ │ │ ├── BONEhumerus_R.stl │ │ │ ├── SKINbody.stl │ │ │ ├── dog_skin.msh │ │ │ ├── dog_skin.skn │ │ │ ├── skin_texture.png │ │ │ └── tennis_ball.png │ │ ├── explore.py │ │ ├── finger.py │ │ ├── finger.xml │ │ ├── fish.py │ │ ├── fish.xml │ │ ├── hopper.py │ │ ├── hopper.xml │ │ ├── humanoid.py │ │ ├── humanoid.xml │ │ ├── humanoid_CMU.py │ │ ├── humanoid_CMU.xml │ │ ├── loader_test.py │ │ ├── lqr.py │ │ ├── lqr.xml │ │ ├── lqr_solver.py │ │ ├── lqr_test.py │ │ ├── manipulator.py │ │ ├── manipulator.xml │ │ ├── pendulum.py │ │ ├── pendulum.xml │ │ ├── point_mass.py │ │ ├── point_mass.xml │ │ ├── quadruped.py │ │ ├── quadruped.xml │ │ ├── reacher.py │ │ ├── reacher.xml │ │ ├── stacker.py │ │ ├── stacker.xml │ │ ├── suite_test.py │ │ ├── swimmer.py │ │ ├── swimmer.xml │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── parse_amc.py │ │ │ ├── parse_amc_test.py │ │ │ ├── randomizers.py │ │ │ └── randomizers_test.py │ │ ├── walker.py │ │ ├── walker.xml │ │ └── wrappers │ │ │ ├── __init__.py │ │ │ ├── action_noise.py │ │ │ ├── action_noise_test.py │ │ │ ├── action_scale.py │ │ │ ├── action_scale_test.py │ │ │ ├── mujoco_profiling.py │ │ │ ├── mujoco_profiling_test.py │ │ │ ├── pixels.py │ │ │ └── pixels_test.py │ ├── third_party │ │ ├── ant │ │ │ └── ant.xml │ │ └── kinova │ │ │ ├── common.xml │ │ │ ├── jaco_arm.xml │ │ │ ├── jaco_hand.xml │ │ │ └── meshes_decimated │ │ │ ├── arm.stl │ │ │ ├── base.stl │ │ │ ├── finger_distal.stl │ │ │ ├── finger_proximal.stl │ │ │ ├── forearm.stl │ │ │ ├── hand_3finger.stl │ │ │ ├── hand_3finger_insert.stl │ │ │ ├── hand_3finger_main.stl │ │ │ ├── shoulder.stl │ │ │ └── wrist.stl │ ├── utils │ │ ├── __init__.py │ │ ├── containers.py │ │ ├── containers_test.py │ │ ├── inverse_kinematics.py │ │ ├── inverse_kinematics_test.py │ │ ├── io.py │ │ ├── rewards.py │ │ ├── rewards_test.py │ │ ├── transformations.py │ │ ├── transformations_test.py │ │ ├── xml_tools.py │ │ └── xml_tools_test.py │ └── viewer │ │ ├── __init__.py │ │ ├── application.py │ │ ├── application_test.py │ │ ├── gui │ │ ├── __init__.py │ │ ├── base.py │ │ ├── base_test.py │ │ ├── fullscreen_quad.py │ │ ├── glfw_gui.py │ │ └── glfw_gui_test.py │ │ ├── renderer.py │ │ ├── renderer_test.py │ │ ├── runtime.py │ │ ├── runtime_test.py │ │ ├── user_input.py │ │ ├── user_input_test.py │ │ ├── util.py │ │ ├── util_test.py │ │ ├── viewer.py │ │ ├── viewer_test.py │ │ ├── views.py │ │ └── views_test.py │ └── setup.py ├── pyproject.toml ├── requirements.txt ├── scripts ├── check_imports.py ├── code_quality.sh ├── install.sh ├── install_apt.sh └── run.sh └── source ├── agent ├── __init__.py ├── models.py └── picor.py ├── config └── picor.yaml ├── main.py ├── picor_runner.py ├── rlkit └── envs │ ├── proxy_env.py │ └── wrappers │ ├── __init__.py │ ├── normalized_box_env.py │ └── task_onehot_env.py └── tools.py /.flake8: 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