├── .idea ├── .gitignore ├── Stoch2_gym_env.iml ├── inspectionProfiles │ └── profiles_settings.xml ├── misc.xml ├── modules.xml └── vcs.xml ├── README.md ├── arbitary_slope_test.py ├── create_initial_policy.py ├── experiments ├── 19Oct1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_102.npy │ │ ├── policy_105.npy │ │ ├── policy_21.npy │ │ ├── policy_24.npy │ │ ├── policy_27.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ ├── policy_90.npy │ │ ├── policy_93.npy │ │ ├── policy_96.npy │ │ └── policy_99.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 21Oct3 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_12.npy │ │ ├── policy_15.npy │ │ ├── policy_18.npy │ │ ├── policy_21.npy │ │ ├── policy_24.npy │ │ ├── policy_27.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ └── policy_72.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 21Oct4 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_12.npy │ │ ├── policy_15.npy │ │ ├── policy_18.npy │ │ ├── policy_21.npy │ │ ├── policy_24.npy │ │ ├── policy_27.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ └── policy_87.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 23July1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_102.npy │ │ ├── policy_105.npy │ │ ├── policy_108.npy │ │ ├── policy_111.npy │ │ ├── policy_114.npy │ │ ├── policy_117.npy │ │ ├── policy_120.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ ├── policy_90.npy │ │ ├── policy_93.npy │ │ ├── policy_96.npy │ │ └── policy_99.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 23July2 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ └── policy_69.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 23July3 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ └── policy_90.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 25July1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_102.npy │ │ ├── policy_105.npy │ │ ├── policy_108.npy │ │ ├── policy_111.npy │ │ ├── policy_114.npy │ │ ├── policy_117.npy │ │ ├── policy_120.npy │ │ ├── policy_123.npy │ │ ├── policy_126.npy │ │ ├── policy_129.npy │ │ ├── policy_132.npy │ │ ├── policy_135.npy │ │ ├── policy_138.npy │ │ ├── policy_141.npy │ │ ├── policy_144.npy │ │ ├── policy_147.npy │ │ ├── policy_150.npy │ │ ├── policy_153.npy │ │ ├── policy_156.npy │ │ ├── policy_159.npy │ │ ├── policy_162.npy │ │ ├── policy_165.npy │ │ ├── policy_168.npy │ │ ├── policy_171.npy │ │ ├── policy_174.npy │ │ ├── policy_177.npy │ │ ├── policy_180.npy │ │ ├── policy_183.npy │ │ ├── policy_186.npy │ │ ├── policy_189.npy │ │ ├── policy_192.npy │ │ ├── policy_195.npy │ │ ├── policy_198.npy │ │ ├── policy_201.npy │ │ ├── policy_204.npy │ │ ├── policy_207.npy │ │ ├── policy_210.npy │ │ ├── policy_213.npy │ │ ├── policy_216.npy │ │ ├── policy_219.npy │ │ ├── policy_222.npy │ │ ├── policy_225.npy │ │ ├── policy_228.npy │ │ ├── policy_231.npy │ │ ├── policy_234.npy │ │ ├── policy_237.npy │ │ ├── policy_240.npy │ │ ├── policy_243.npy │ │ ├── policy_246.npy │ │ ├── policy_249.npy │ │ ├── policy_252.npy │ │ ├── policy_255.npy │ │ ├── policy_258.npy │ │ ├── policy_261.npy │ │ ├── policy_264.npy │ │ ├── policy_267.npy │ │ ├── policy_270.npy │ │ ├── policy_273.npy │ │ ├── policy_276.npy │ │ ├── policy_279.npy │ │ ├── policy_282.npy │ │ ├── policy_285.npy │ │ ├── policy_288.npy │ │ ├── policy_291.npy │ │ ├── policy_294.npy │ │ ├── policy_297.npy │ │ ├── policy_300.npy │ │ ├── policy_303.npy │ │ ├── policy_306.npy │ │ ├── policy_309.npy │ │ ├── policy_312.npy │ │ ├── policy_315.npy │ │ ├── policy_318.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ ├── policy_90.npy │ │ ├── policy_93.npy │ │ ├── policy_96.npy │ │ └── policy_99.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 26July2 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ └── policy_81.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 27Aug1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ └── policy_72.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 27July1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_12.npy │ │ ├── policy_15.npy │ │ ├── policy_18.npy │ │ ├── policy_21.npy │ │ ├── policy_24.npy │ │ ├── policy_27.npy │ │ ├── policy_3.npy │ │ ├── policy_30.npy │ │ ├── policy_33.npy │ │ ├── policy_36.npy │ │ ├── policy_39.npy │ │ ├── policy_42.npy │ │ ├── policy_45.npy │ │ ├── policy_48.npy │ │ ├── policy_51.npy │ │ ├── policy_54.npy │ │ ├── policy_57.npy │ │ ├── policy_6.npy │ │ └── policy_9.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png ├── 3Aug1 │ ├── hyperparameters │ ├── iterations │ │ ├── best_policy.npy │ │ ├── policy_102.npy │ │ ├── policy_105.npy │ │ ├── policy_108.npy │ │ ├── policy_111.npy │ │ ├── policy_114.npy │ │ ├── policy_117.npy │ │ ├── policy_120.npy │ │ ├── policy_123.npy │ │ ├── policy_126.npy │ │ ├── policy_129.npy │ │ ├── policy_132.npy │ │ ├── policy_135.npy │ │ ├── policy_138.npy │ │ ├── policy_141.npy │ │ ├── policy_144.npy │ │ ├── policy_147.npy │ │ ├── policy_150.npy │ │ ├── policy_153.npy │ │ ├── policy_156.npy │ │ ├── policy_159.npy │ │ ├── policy_162.npy │ │ ├── policy_165.npy │ │ ├── policy_60.npy │ │ ├── policy_63.npy │ │ ├── policy_66.npy │ │ ├── policy_69.npy │ │ ├── policy_72.npy │ │ ├── policy_75.npy │ │ ├── policy_78.npy │ │ ├── policy_81.npy │ │ ├── policy_84.npy │ │ ├── policy_87.npy │ │ ├── policy_90.npy │ │ ├── policy_93.npy │ │ ├── policy_96.npy │ │ └── policy_99.npy │ └── logs │ │ ├── log.csv │ │ ├── log.pickle │ │ └── return.png └── 3Aug2 │ ├── hyperparameters │ ├── iterations │ ├── best_policy.npy │ ├── policy_102.npy │ ├── policy_105.npy │ ├── policy_108.npy │ ├── policy_111.npy │ ├── policy_114.npy │ ├── policy_117.npy │ ├── policy_120.npy │ ├── policy_123.npy │ ├── policy_126.npy │ ├── policy_129.npy │ ├── policy_132.npy │ ├── policy_135.npy │ ├── policy_138.npy │ ├── policy_141.npy │ ├── policy_144.npy │ ├── policy_147.npy │ ├── policy_150.npy │ ├── policy_153.npy │ ├── policy_156.npy │ ├── policy_159.npy │ ├── policy_162.npy │ ├── policy_165.npy │ ├── policy_168.npy │ ├── policy_171.npy │ ├── policy_174.npy │ ├── policy_177.npy │ ├── policy_180.npy │ ├── policy_183.npy │ ├── policy_186.npy │ ├── policy_60.npy │ ├── policy_63.npy │ ├── policy_66.npy │ ├── policy_69.npy │ ├── policy_72.npy │ ├── policy_75.npy │ ├── policy_78.npy │ ├── policy_81.npy │ ├── policy_84.npy │ ├── policy_87.npy │ ├── policy_90.npy │ ├── policy_93.npy │ ├── policy_96.npy │ └── policy_99.npy │ └── logs │ ├── log.csv │ ├── log.pickle │ └── return.png ├── gym_sloped_terrain └── envs │ ├── HyQ_pybullet_env.py │ ├── Laikago_pybullet_env.py │ ├── Wedges │ ├── downhill │ │ ├── manifest.xml │ │ ├── meshes │ │ │ └── ramp_5.STL │ │ └── urdf │ │ │ ├── wedge_11.urdf │ │ │ ├── wedge_13.urdf │ │ │ ├── wedge_15.urdf │ │ │ ├── wedge_5.urdf │ │ │ ├── wedge_7.urdf │ │ │ └── wedge_9.urdf │ ├── ramp_5 │ │ ├── manifest.xml │ │ ├── meshes │ │ │ └── ramp_5.STL │ │ └── urdf │ │ │ ├── wedge_11.urdf │ │ │ ├── wedge_13.urdf │ │ │ ├── wedge_5.urdf │ │ │ ├── wedge_7.urdf │ │ │ └── wedge_9.urdf │ └── uphill │ │ ├── manifest.xml │ │ ├── meshes │ │ └── ramp_5.STL │ │ └── urdf │ │ ├── wedge_11.urdf │ │ ├── wedge_13.urdf │ │ ├── wedge_15.urdf │ │ ├── wedge_5.urdf │ │ ├── wedge_7.urdf │ │ └── wedge_9.urdf │ ├── __pycache__ │ ├── Laikago_pybullet_env.cpython-36.pyc │ ├── bullet_client.cpython-36.pyc │ └── walking_controller.cpython-36.pyc │ ├── arbitary_slopes_env.py │ ├── bullet_client.py │ ├── planeEstimation │ ├── __pycache__ │ │ └── get_terrain_normal.cpython-36.pyc │ └── get_terrain_normal.py │ ├── robots │ ├── hyq │ │ ├── LICENSE │ │ ├── hyq.json │ │ ├── hyq.urdf │ │ └── meshes │ │ │ ├── head │ │ │ ├── head.stl │ │ │ └── head_camera.stl │ │ │ ├── leg │ │ │ ├── hipassembly.stl │ │ │ ├── lowerleg.stl │ │ │ └── upperleg.stl │ │ │ ├── sensors │ │ │ └── asus_xtion.stl │ │ │ └── trunk │ │ │ └── trunk.stl │ ├── laikago │ │ ├── chassis.mtl │ │ ├── chassis.obj │ │ ├── chassis.stl │ │ ├── chassis_mod.mtl │ │ ├── chassis_mod.obj │ │ ├── chassis_vhacd.obj │ │ ├── chassis_vhacd_mod.obj │ │ ├── chassis_vhacd_mod_zup.mtl │ │ ├── chassis_vhacd_mod_zup.obj │ │ ├── chassis_zup.mtl │ │ ├── chassis_zup.obj │ │ ├── data1.txt │ │ ├── hip_motor.mtl │ │ ├── hip_motor.obj │ │ ├── hip_motor.stl │ │ ├── hip_motor_mirror.mtl │ │ ├── hip_motor_mirror.obj │ │ ├── hip_motor_mirror.stl │ │ ├── laikago.json │ │ ├── laikago.urdf │ │ ├── laikago_tex.jpg │ │ ├── laikago_toes.urdf │ │ ├── laikago_toes_limits.urdf │ │ ├── laikago_toes_zup.urdf │ │ ├── license.txt │ │ ├── lower_leg3.mtl │ │ ├── lower_leg3.obj │ │ ├── lower_leg_3.stl │ │ ├── lower_leg_3_collision.stl │ │ ├── upper_leg.stl │ │ ├── upper_leg_left.mtl │ │ ├── upper_leg_left.obj │ │ ├── upper_leg_left2.mtl │ │ ├── upper_leg_left2.obj │ │ ├── upper_leg_left_vhacd.obj │ │ ├── upper_leg_mirror.mtl │ │ ├── upper_leg_mirror.obj │ │ ├── upper_leg_mirror.stl │ │ ├── upper_leg_mirror2.mtl │ │ ├── upper_leg_mirror2.obj │ │ ├── upper_leg_right.mtl │ │ ├── upper_leg_right.obj │ │ └── upper_leg_right_vhacd.obj │ └── stoch_two_abduction_urdf │ │ ├── CMakeLists.txt │ │ ├── config │ │ └── joint_names_stoch_two_abduction_urdf.yaml │ │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ │ ├── meshes │ │ ├── back_body_link.STL │ │ ├── back_left_abd_link.STL │ │ ├── back_right_abd_link.STL │ │ ├── base_link.STL │ │ ├── bl_lower_hip_link.STL │ │ ├── bl_lower_knee_link.STL │ │ ├── bl_upper_hip_link.STL │ │ ├── bl_upper_knee_link.STL │ │ ├── br_lower_hip_link.STL │ │ ├── br_lower_knee_link.STL │ │ ├── br_upper_hip_link.STL │ │ ├── br_upper_knee_link.STL │ │ ├── fl_lower_hip_link.STL │ │ ├── fl_lower_knee_link.STL │ │ ├── fl_upper_hip_link.STL │ │ ├── fl_upper_knee_link.STL │ │ ├── fr_lower_hip_link.STL │ │ ├── fr_lower_knee_link.STL │ │ ├── fr_upper_hip_link.STL │ │ ├── fr_upper_knee_link.STL │ │ ├── front_body_link.STL │ │ ├── front_left_abd_link.STL │ │ └── front_right_abd_link.STL │ │ ├── package.xml │ │ └── urdf │ │ └── stoch_two_abduction_urdf.urdf │ ├── stoch2_pybullet_env.py │ ├── track │ ├── block1_11_11 │ │ ├── block1_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block2_11_11 │ │ ├── block2_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block2_9_11 │ │ ├── block2_9_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block3_11_11 │ │ ├── block3_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block3_9_11 │ │ ├── block3_9_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── block4_9_11 │ │ ├── block4_9_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ ├── final_newest_wedges (1).7z │ ├── newest_wedges (1).7z │ ├── pyramid │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── pyramid.stl │ ├── stairs_wedge_down │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ ├── stairs_wedge.stl │ │ ├── texture.jpg │ │ ├── texture3.jpg │ │ ├── texture_1.jpg │ │ ├── texture_2.jpg │ │ └── texture_4.jpg │ ├── up_sidehill │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── up_sidehill.stl │ ├── visualizer.py │ ├── wedge_11 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_11.stl │ ├── wedge_13 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_13.stl │ ├── wedge_15 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_15.stl │ ├── wedge_7 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_7.stl │ ├── wedge_9 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_9.stl │ ├── wedge_unsymmetric │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_unsymmetric.stl │ └── wedges │ │ ├── block1_11_11 │ │ ├── block1_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ │ ├── block2_11_11 │ │ ├── block2_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ │ ├── block3_11_11 │ │ ├── block3_11_11.stl │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.urdf │ │ ├── wedge_11 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_11.stl │ │ ├── wedge_13 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_13.stl │ │ ├── wedge_15 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_15.stl │ │ ├── wedge_7 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_7.stl │ │ └── wedge_9 │ │ ├── model.config │ │ ├── model.sdf │ │ ├── model.urdf │ │ └── wedge_9.stl │ └── walking_controller.py ├── initial_policies ├── init_policy_Stoch2.npy ├── initial_policy_HyQ.npy └── initial_policy_Laikago.npy ├── media ├── stoch2arbitary.gif ├── stoch2dist.gif ├── stoch2stair1.gif └── stoch2uphill.gif ├── setup.py ├── testHyQ_policy.py ├── testLaikago_policy.py ├── testStoch2_policy.py ├── trainHyQ_policy.py ├── trainLaikago_policy.py ├── trainStoch2_policy.py ├── train_command_HyQ.txt ├── train_command_Laikago.txt ├── train_command_Stoch2.txt └── utils ├── __pycache__ └── ik_class.cpython-36.pyc ├── ik_class.py ├── logger.py └── make_train_plots.py /.idea/.gitignore: -------------------------------------------------------------------------------- 1 | # Default ignored files 2 | /shelf/ 3 | /workspace.xml 4 | -------------------------------------------------------------------------------- /.idea/Stoch2_gym_env.iml: -------------------------------------------------------------------------------- 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