├── .cursor └── rules │ └── example.mdc ├── .dockerignore ├── .flake8 ├── .gitattributes ├── .github ├── ISSUE_TEMPLATE │ ├── config.yml │ └── issue_template.md ├── LICENSE_HEADER.txt ├── pull_request_template.md ├── reviewers.yml └── workflows │ ├── auto-request-review.yml │ └── ci-test.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .vscode ├── .gitignore ├── extensions.json ├── tasks.json └── tools │ ├── launch.template.json │ ├── settings.template.json │ └── setup_vscode.py ├── CITATION.cff ├── CONTRIBUTING.md ├── CONTRIBUTORS.md ├── LICENSE ├── README.md ├── scripts ├── list_envs.py ├── random_agent.py ├── rsl_rl │ ├── cli_args.py │ ├── play.py │ └── train.py ├── skrl │ ├── play.py │ └── train.py └── zero_agent.py └── source └── SO_100 ├── SO_100 ├── __init__.py ├── robots │ ├── __init__.py │ ├── so_arm100.py │ └── so_arm100_roscon.py ├── tasks │ ├── __init__.py │ ├── lift │ │ ├── __init__.py │ │ ├── agents │ │ │ ├── __init__.py │ │ │ └── rsl_rl_ppo_cfg.py │ │ ├── joint_pos_env_cfg.py │ │ ├── lift_env_cfg.py │ │ └── mdp │ │ │ ├── __init__.py │ │ │ ├── observations.py │ │ │ ├── rewards.py │ │ │ └── terminations.py │ └── reach │ │ ├── __init__.py │ │ ├── agents │ │ ├── __init__.py │ │ ├── rsl_rl_ppo_cfg.py │ │ └── skrl_ppo_cfg.yaml │ │ ├── ik_rel_env_cfg.py │ │ ├── joint_pos_env_cfg.py │ │ ├── mdp │ │ ├── __init__.py │ │ ├── observations.py │ │ ├── rewards.py │ │ └── terminations.py │ │ └── reach_env_cfg.py └── ui_extension_example.py ├── config └── extension.toml ├── data └── Robots │ ├── so_arm100 │ ├── configuration │ │ ├── Livestream_test_base.usd │ │ ├── Livestream_test_physics.usd │ │ ├── Livestream_test_sensor.usd │ │ └── base_plate_layer1-v5.tmp.usd │ └── so_100.usd │ └── so_arm100_roscon │ ├── configuration │ ├── so_arm100_base.usd │ ├── so_arm100_physics.usd │ └── so_arm100_sensor.usd │ └── so_arm100.usd ├── docs └── CHANGELOG.rst ├── pyproject.toml └── setup.py /.cursor/rules/example.mdc: 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