├── .gitignore ├── LICENSE ├── README.md ├── configs └── HerDemo.yaml ├── rl ├── agents │ ├── base.py │ ├── factory.py │ └── herdemo.py ├── modules │ ├── logger.py │ ├── policies.py │ └── replay_buffer.py └── utils │ ├── normalizer.py │ ├── utils.py │ └── video_recorder.py ├── scripts └── run_herdemo.sh ├── setup.py ├── surrol ├── assets │ ├── README.md │ ├── block │ │ ├── block.urdf │ │ └── meshes │ │ │ ├── block.mtl │ │ │ ├── block.obj │ │ │ └── block_vhacd.obj │ ├── box │ │ └── box_col.urdf │ ├── cube │ │ ├── cube.urdf │ │ ├── cube_vis.urdf │ │ ├── meshes │ │ │ └── cube.obj │ │ └── texture │ │ │ ├── cube_tex.xcf │ │ │ ├── cube_tex0.png │ │ │ ├── cube_tex1.png │ │ │ ├── cube_tex2.png │ │ │ ├── cube_tex3.png │ │ │ ├── cube_tex4.png │ │ │ ├── cube_tex5.png │ │ │ ├── cube_tex6.png │ │ │ └── cube_uv.png │ ├── cylinder │ │ └── cylinder.urdf │ ├── ecm │ │ ├── README.md │ │ ├── blender_files │ │ │ ├── ecm.png │ │ │ ├── ecm_ambf.blend │ │ │ ├── ecm_wpi.blend │ │ │ └── ecm_wpi_modified.blend │ │ ├── ecm.urdf │ │ ├── ecm_ori.urdf │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── base_link.STL │ │ │ │ ├── main_insertion_link.STL │ │ │ │ ├── pitch_back_link.STL │ │ │ │ ├── pitch_bottom_link.STL │ │ │ │ ├── pitch_end_link.STL │ │ │ │ ├── pitch_front_link.STL │ │ │ │ ├── pitch_top_link.STL │ │ │ │ ├── remote_center_link.STL │ │ │ │ ├── tool_link.STL │ │ │ │ └── yaw_link.STL │ │ │ └── visual │ │ │ │ ├── base_link.STL │ │ │ │ ├── base_link.obj │ │ │ │ ├── main_insertion_link.STL │ │ │ │ ├── pitch_back_link.STL │ │ │ │ ├── pitch_bottom_link.STL │ │ │ │ ├── pitch_end_link.STL │ │ │ │ ├── pitch_end_link_ori.STL │ │ │ │ ├── pitch_front_link.STL │ │ │ │ ├── pitch_top_link.STL │ │ │ │ ├── remote_center_link.STL │ │ │ │ ├── tool_link.STL │ │ │ │ ├── tool_link_1.obj │ │ │ │ ├── tool_link_2.obj │ │ │ │ ├── yaw_link.STL │ │ │ │ └── yaw_link.obj │ │ └── topology │ │ │ ├── ecm_ambf.txt │ │ │ ├── ecm_urdf_wpi.txt │ │ │ └── ecm_urdf_wpi_modified.txt │ ├── gauze │ │ ├── gauze.urdf │ │ └── meshes │ │ │ └── gauze.obj │ ├── needle │ │ ├── meshes │ │ │ ├── needle_40mm.obj │ │ │ ├── needle_40mm_col.obj │ │ │ ├── needle_40mm_vhacd.obj │ │ │ ├── needle_96mm.obj │ │ │ └── needle_96mm_vhacd.obj │ │ ├── needle_40mm.urdf │ │ └── needle_96mm.urdf │ ├── peg_board │ │ ├── meshes │ │ │ ├── board.obj │ │ │ ├── peg.obj │ │ │ ├── peg_with_board.obj │ │ │ └── pegboard.png │ │ └── peg_board.urdf │ ├── psm │ │ ├── README.md │ │ ├── blender_files │ │ │ ├── psm.png │ │ │ ├── psm_ambf.blend │ │ │ ├── psm_jaw.png │ │ │ ├── psm_wpi_modified.blend │ │ │ └── psm_wpi_ori.blend │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── base_link.STL │ │ │ │ ├── main_insertion_link.STL │ │ │ │ ├── pitch_back_link.STL │ │ │ │ ├── pitch_bottom_link.STL │ │ │ │ ├── pitch_end_link.STL │ │ │ │ ├── pitch_front_link.STL │ │ │ │ ├── pitch_top_link.STL │ │ │ │ ├── tool_gripper1_link.STL │ │ │ │ ├── tool_gripper1_link_vhacd.obj │ │ │ │ ├── tool_gripper1_link_wide_vhacd.obj │ │ │ │ ├── tool_gripper2_link.STL │ │ │ │ ├── tool_gripper2_link_vhacd.obj │ │ │ │ ├── tool_gripper2_link_wide_vhacd.obj │ │ │ │ ├── tool_pitch_link.STL │ │ │ │ ├── tool_roll_link.STL │ │ │ │ ├── tool_yaw_link.STL │ │ │ │ └── yaw_link.STL │ │ │ └── visual │ │ │ │ ├── base_link.STL │ │ │ │ ├── main_insertion_link.STL │ │ │ │ ├── main_insertion_link_1.obj │ │ │ │ ├── main_insertion_link_2.obj │ │ │ │ ├── main_insertion_link_3.obj │ │ │ │ ├── pitch_back_link.STL │ │ │ │ ├── pitch_bottom_link.STL │ │ │ │ ├── pitch_end_link.STL │ │ │ │ ├── pitch_front_link.STL │ │ │ │ ├── pitch_top_link.STL │ │ │ │ ├── tool_gripper1_link.STL │ │ │ │ ├── tool_gripper1_link.obj │ │ │ │ ├── tool_gripper1_link_wide.obj │ │ │ │ ├── tool_gripper2_link.STL │ │ │ │ ├── tool_gripper2_link.obj │ │ │ │ ├── tool_gripper2_link_wide.obj │ │ │ │ ├── tool_pitch_link.STL │ │ │ │ ├── tool_roll_link.STL │ │ │ │ ├── tool_yaw_link.STL │ │ │ │ └── yaw_link.STL │ │ ├── psm.urdf │ │ ├── psm_ori.urdf │ │ └── topology │ │ │ ├── psm_ambf.txt │ │ │ ├── psm_urdf_dvrk.txt │ │ │ ├── psm_urdf_wpi.txt │ │ │ └── psm_urdf_wpi_modified.txt │ ├── sphere │ │ └── sphere.urdf │ ├── table │ │ ├── meshes │ │ │ ├── part0.obj │ │ │ ├── part1.obj │ │ │ ├── part2.obj │ │ │ ├── table.mtl │ │ │ └── table.obj │ │ └── table.urdf │ ├── tray │ │ ├── meshes │ │ │ ├── pad.mtl │ │ │ ├── pad.obj │ │ │ ├── tray.mtl │ │ │ ├── tray.obj │ │ │ ├── tray_with_pad.mtl │ │ │ └── tray_with_pad.obj │ │ ├── pad.urdf │ │ ├── tray.urdf │ │ └── tray_pad.urdf │ └── workspace │ │ └── workspace.urdf ├── const.py ├── data │ ├── README.md │ ├── data_generation.py │ └── demo │ │ ├── data_ECMReach-v0_random_100.npz │ │ ├── data_GauzeRetrieve-v0_random_100.npz │ │ ├── data_NeedlePick-v0_random_100.npz │ │ ├── data_NeedleReach-v0_random_100.npz │ │ ├── data_NeedleRegrasp-v0_random_100.npz │ │ ├── data_PegTransfer-v0_random_100.npz │ │ └── data_StaticTrack-v0_random_100.npz ├── gym │ ├── __init__.py │ ├── surrol_env.py │ └── surrol_goalenv.py ├── robots │ ├── README.md │ ├── arm.py │ ├── ecm.py │ └── psm.py ├── 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