├── .coveragerc ├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── environment.yml ├── examples ├── rl │ ├── restore_training.py │ ├── run_3link_nn.py │ ├── run_3link_residual_rmp.py │ ├── run_franka_nn.py │ ├── run_franka_residual_rmp.py │ └── run_policy_rollouts.py └── rmp2 │ ├── rmp2_3link.py │ └── rmp2_franka.py ├── rmp2 ├── configs │ ├── 3link_config.yaml │ ├── 3link_residual_config.yaml │ ├── 3link_residual_rmp_config.yaml │ ├── franka_config.yaml │ ├── franka_residual_config.yaml │ └── franka_residual_rmp_config.yaml ├── envs │ ├── __init__.py │ ├── franka_env.py │ ├── franka_residual_env.py │ ├── franka_residual_rmp_env.py │ ├── robot_env.py │ ├── robot_sim.py │ ├── three_link_env.py │ ├── three_link_residual_env.py │ └── three_link_residual_rmp_env.py ├── kinematics │ ├── __init__.py │ └── tf_fk.py ├── policies │ ├── gaussian_policy.py │ └── policy_networks.py ├── rmpgraph │ ├── __init__.py │ ├── rmpgraph.py │ ├── rmps │ │ ├── __init__.py │ │ └── rmps.py │ ├── robotics.py │ └── taskmaps │ │ ├── __init__.py │ │ └── distance_taskmaps.py ├── urdf │ ├── franka_panda │ │ ├── LICENSE.txt │ │ └── panda.urdf │ ├── meshes │ │ ├── collision │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ └── visual │ │ │ ├── colors.png │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── visualShapeBench.json_0.json │ ├── panda.urdf │ └── three_link_planar_robot.urdf └── utils │ ├── __init__.py │ ├── bullet_utils.py │ ├── env_wrappers.py │ ├── np_utils.py │ ├── plot_configs.py │ ├── python_utils.py │ ├── rllib_utils.py │ 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