├── .github └── workflows │ ├── push.yml │ └── release.yml ├── .gitignore ├── .gitmodules ├── CITATION.cff ├── LICENSE ├── README.md ├── agents ├── A_attitude_vs_rpm.py ├── B_position_controller.py ├── C_trajectory_following.py ├── __init__.py ├── experiment_results │ ├── exp-A │ │ ├── exp-A_attitude_DIAGONAL_DOWN_run1 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706389508.deeplearning-2-small-vm.95523.0 │ │ ├── exp-A_attitude_DIAGONAL_UP_run1 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706346786.deeplearning-2-small-vm.4482.0 │ │ ├── exp-A_attitude_DOWN_run1 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706375289.deeplearning-2-small-vm.64063.0 │ │ ├── exp-A_attitude_UP_run1 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706361010.deeplearning-2-small-vm.32786.0 │ │ ├── exp-A_rpm_DIAGONAL_DOWN_run1 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706345410.deeplearning-1-vm.4309.0 │ │ ├── exp-A_rpm_DIAGONAL_UP_run1 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706395289.deeplearning-1-vm.133787.0 │ │ ├── exp-A_rpm_DOWN_run1 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706377253.deeplearning-1-vm.87852.0 │ │ └── exp-A_rpm_UP_run1 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ └── PPO_1 │ │ │ └── events.out.tfevents.1706428149.deeplearning-1-vm.221007.0 │ ├── exp-B │ │ └── run_rpm │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ └── PPO_1 │ │ │ └── events.out.tfevents.1707578521.binbash-82k8.9058.0 │ └── exp-C │ │ ├── 30_jan_results │ │ ├── best_model.zip │ │ ├── evaluations.npz │ │ ├── final_model.zip │ │ └── output_figure.pdf │ │ ├── 31_jan_results │ │ ├── best_model.zip │ │ ├── evaluations.npz │ │ ├── final_model.zip │ │ ├── output_figure.pdf │ │ └── tb │ │ │ ├── PPO_1 │ │ │ └── events.out.tfevents.1706653935.s.131639.0 │ │ │ ├── PPO_10 │ │ │ └── events.out.tfevents.1706710297.s.45202.0 │ │ │ ├── PPO_11 │ │ │ └── events.out.tfevents.1706711570.s.50119.0 │ │ │ ├── PPO_12 │ │ │ └── events.out.tfevents.1706712456.s.54027.0 │ │ │ ├── PPO_13 │ │ │ └── events.out.tfevents.1706712907.s.55854.0 │ │ │ ├── PPO_14 │ │ │ └── events.out.tfevents.1706712927.s.56035.0 │ │ │ ├── PPO_15 │ │ │ └── events.out.tfevents.1706713020.s.56426.0 │ │ │ ├── PPO_16 │ │ │ └── events.out.tfevents.1706713057.s.56607.0 │ │ │ ├── PPO_17 │ │ │ └── events.out.tfevents.1706715854.s.68206.0 │ │ │ ├── PPO_18 │ │ │ └── events.out.tfevents.1706716714.s.72077.0 │ │ │ ├── PPO_19 │ │ │ └── events.out.tfevents.1706718357.s.78789.0 │ │ │ ├── PPO_2 │ │ │ └── events.out.tfevents.1706653967.s.131981.0 │ │ │ ├── PPO_20 │ │ │ └── events.out.tfevents.1706719213.s.84792.0 │ │ │ ├── PPO_3 │ │ │ └── events.out.tfevents.1706656226.s.141839.0 │ │ │ ├── PPO_4 │ │ │ └── events.out.tfevents.1706656905.s.145079.0 │ │ │ ├── PPO_5 │ │ │ └── events.out.tfevents.1706657835.s.148883.0 │ │ │ ├── PPO_6 │ │ │ └── events.out.tfevents.1706708030.s.35591.0 │ │ │ ├── PPO_7 │ │ │ └── events.out.tfevents.1706709221.s.40917.0 │ │ │ ├── PPO_8 │ │ │ └── events.out.tfevents.1706710144.s.44589.0 │ │ │ └── PPO_9 │ │ │ └── events.out.tfevents.1706710243.s.44957.0 │ │ ├── grid_search_results │ │ ├── buffer3_kp1 │ │ │ ├── k_p=1.0_k_wp=3.0_k_s=0.1_max_reward_distance=0.2_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ ├── output_figure.pdf │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706895037.instance-1.europe-west3-c.c.drones-412410.internal.4703.0 │ │ │ ├── k_p=1.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ ├── output_figure.pdf │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706898540.instance-1.europe-west3-c.c.drones-412410.internal.4862.0 │ │ │ ├── k_p=1.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.2_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ ├── output_figure.pdf │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706902052.instance-1.europe-west3-c.c.drones-412410.internal.5120.0 │ │ │ ├── k_p=1.0_k_wp=7.0_k_s=0.1_max_reward_distance=0.2_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ ├── output_figure.pdf │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706910772.instance-1.europe-west3-c.c.drones-412410.internal.8056.0 │ │ │ ├── k_p=1.0_k_wp=7.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ ├── output_figure.pdf │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706914308.instance-1.europe-west3-c.c.drones-412410.internal.8165.0 │ │ │ ├── k_p=1.0_k_wp=7.0_k_s=0.2_max_reward_distance=0.2_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ ├── output_figure.pdf │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706916060.instance-1.europe-west3-c.c.drones-412410.internal.8875.0 │ │ │ └── k_p=1.0_k_wp=7.0_k_s=0.2_max_reward_distance=0.2_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ ├── output_figure.pdf │ │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706917833.instance-1.europe-west3-c.c.drones-412410.internal.8930.0 │ │ ├── buffer3_kp2 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.1_max_reward_distance=0.1_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706893802.instance-2.europe-west3-c.c.drones-412410.internal.5008.0 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.1_max_reward_distance=0.2_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706895550.instance-2.europe-west3-c.c.drones-412410.internal.5173.0 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706899064.instance-2.europe-west3-c.c.drones-412410.internal.5656.0 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706900856.instance-2.europe-west3-c.c.drones-412410.internal.5718.0 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.2_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706902622.instance-2.europe-west3-c.c.drones-412410.internal.5779.0 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.2_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706904365.instance-2.europe-west3-c.c.drones-412410.internal.6038.0 │ │ │ ├── k_p=2.0_k_wp=7.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706913024.instance-2.europe-west3-c.c.drones-412410.internal.8049.0 │ │ │ └── k_p=2.0_k_wp=7.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706914773.instance-2.europe-west3-c.c.drones-412410.internal.8266.0 │ │ ├── buffer4_kp1 │ │ │ ├── k_p=1.0_k_wp=3.0_k_s=0.1_max_reward_distance=0.1_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ ├── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706892455.instance-3.europe-west3-c.c.drones-412410.internal.3529.0 │ │ │ │ │ └── PPO_2 │ │ │ │ │ └── events.out.tfevents.1706892489.instance-3.europe-west3-c.c.drones-412410.internal.3571.0 │ │ │ ├── k_p=1.0_k_wp=3.0_k_s=0.1_max_reward_distance=0.1_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706894266.instance-3.europe-west3-c.c.drones-412410.internal.3628.0 │ │ │ ├── k_p=1.0_k_wp=3.0_k_s=0.1_max_reward_distance=0.2_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706896041.instance-3.europe-west3-c.c.drones-412410.internal.3679.0 │ │ │ ├── k_p=1.0_k_wp=3.0_k_s=0.1_max_reward_distance=0.2_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706897833.instance-3.europe-west3-c.c.drones-412410.internal.3734.0 │ │ │ ├── k_p=1.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.2_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706903132.instance-3.europe-west3-c.c.drones-412410.internal.4589.0 │ │ │ ├── k_p=1.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.2_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706904910.instance-3.europe-west3-c.c.drones-412410.internal.4682.0 │ │ │ ├── k_p=1.0_k_wp=7.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.05 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ │ └── PPO_1 │ │ │ │ │ └── events.out.tfevents.1706913708.instance-3.europe-west3-c.c.drones-412410.internal.5352.0 │ │ │ └── k_p=1.0_k_wp=7.0_k_s=0.2_max_reward_distance=0.2_waypoint_dist_tol=0.12 │ │ │ │ ├── best_model.zip │ │ │ │ ├── evaluations.npz │ │ │ │ ├── final_model.zip │ │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706918988.instance-3.europe-west3-c.c.drones-412410.internal.5849.0 │ │ └── buffer4_kp2 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.1_max_reward_distance=0.1_waypoint_dist_tol=0.05 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706892680.deeplearning-1-vm.3875.0 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.1_max_reward_distance=0.1_waypoint_dist_tol=0.12 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706894764.deeplearning-1-vm.9029.0 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.05 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706900624.deeplearning-1-vm.22704.0 │ │ │ ├── k_p=2.0_k_wp=3.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.12 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706902638.deeplearning-1-vm.27325.0 │ │ │ ├── k_p=2.0_k_wp=7.0_k_s=0.1_max_reward_distance=0.1_waypoint_dist_tol=0.05 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706908585.deeplearning-1-vm.40783.0 │ │ │ ├── k_p=2.0_k_wp=7.0_k_s=0.1_max_reward_distance=0.1_waypoint_dist_tol=0.12 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706910603.deeplearning-1-vm.45762.0 │ │ │ ├── k_p=2.0_k_wp=7.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.05 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ ├── output_figure.pdf │ │ │ └── tb │ │ │ │ └── PPO_1 │ │ │ │ └── events.out.tfevents.1706916482.deeplearning-1-vm.58636.0 │ │ │ └── k_p=2.0_k_wp=7.0_k_s=0.2_max_reward_distance=0.1_waypoint_dist_tol=0.12 │ │ │ ├── best_model.zip │ │ │ ├── evaluations.npz │ │ │ ├── final_model.zip │ │ │ └── tb │ │ │ └── PPO_1 │ │ │ └── events.out.tfevents.1706918476.deeplearning-1-vm.62990.0 │ │ └── v0 │ │ ├── best_model.zip │ │ ├── evaluations.npz │ │ ├── final_model.zip │ │ ├── output_figure.pdf │ │ └── tb │ │ ├── PPO_1 │ │ └── events.out.tfevents.1706621792.binbash-82k8.11296.0 │ │ ├── PPO_10 │ │ └── events.out.tfevents.1706630560.binbash-82k8.17697.0 │ │ ├── PPO_11 │ │ └── events.out.tfevents.1706632210.binbash-82k8.18897.0 │ │ ├── PPO_12 │ │ └── events.out.tfevents.1706633422.binbash-82k8.20455.0 │ │ ├── PPO_2 │ │ └── events.out.tfevents.1706622866.binbash-82k8.11786.0 │ │ ├── PPO_3 │ │ └── events.out.tfevents.1706623000.binbash-82k8.11922.0 │ │ ├── PPO_4 │ │ └── events.out.tfevents.1706628682.binbash-82k8.16292.0 │ │ ├── PPO_5 │ │ └── events.out.tfevents.1706629386.binbash-82k8.16944.0 │ │ ├── PPO_6 │ │ └── events.out.tfevents.1706629397.binbash-82k8.17004.0 │ │ ├── PPO_7 │ │ └── events.out.tfevents.1706630391.binbash-82k8.17474.0 │ │ ├── PPO_8 │ │ └── events.out.tfevents.1706630431.binbash-82k8.17532.0 │ │ └── PPO_9 │ │ └── events.out.tfevents.1706630505.binbash-82k8.17618.0 ├── test_policy.py └── train_policy.py ├── aviaries ├── PositionControllerAviary.py ├── PositionControllerAviaryTest.py ├── SimpleFollowerAviary.py ├── UZHAviary.py ├── __init__.py ├── configuration.py ├── factories │ ├── __init__.py │ ├── base_factory.py │ ├── position_controller_factory.py │ ├── position_controller_factory_test.py │ ├── simple_follower_factory.py │ └── uzh_trajectory_follower_factory.py └── rewards │ └── uzh_trajectory_reward.py ├── checkpointed_models └── wp_b=2_k_p=5.0_k_wp=8.0_k_s=0.05_max_reward_distance=0.0_waypoint_dist_tol=0.05 │ ├── best_model.zip │ ├── evaluations.npz │ ├── final_model.zip │ ├── output_figure.pdf │ └── tb │ └── PPO_1 │ └── events.out.tfevents.1707670978.s.93793.0 ├── gym_pybullet_drones ├── __init__.py ├── assets │ ├── architrave.urdf │ ├── beta-presets-bak.txt │ ├── beta-traj.csv │ ├── box.urdf │ ├── cf2.dae │ ├── cf2p.urdf │ ├── cf2x.urdf │ ├── clone_bfs.sh │ ├── eeprom.bin │ ├── ffmpeg_png2mp4.sh │ ├── helix.gif │ ├── helix.png │ ├── marl.gif │ ├── racer.urdf │ └── rl.gif ├── control │ ├── BaseControl.py │ ├── CTBRControl.py │ ├── DSLPIDControl.py │ └── __init__.py ├── envs │ ├── BaseAviary.py │ ├── BaseRLAviary.py │ ├── BetaAviary.py │ ├── CtrlAviary.py │ ├── HoverAviary.py │ ├── MultiHoverAviary.py │ ├── VelocityAviary.py │ └── __init__.py ├── examples │ ├── __init__.py │ ├── beta.py │ ├── debug.py │ ├── downwash.py │ ├── learn.py │ ├── pid.py │ └── pid_velocity.py └── utils │ ├── Logger.py │ ├── __init__.py │ ├── enums.py │ ├── pos_logger.py │ └── utils.py ├── media ├── pybullet_drones_whitepaper.pdf └── rl_control.gif ├── pypi_description.md ├── pyproject.toml ├── runnables ├── baselines │ └── pid.py ├── benchmarks │ └── whitepaper_feb25_2024 │ │ ├── benchmarks_landing │ │ ├── pid_10.json │ │ ├── pid_11.json │ │ ├── pid_12.json │ │ ├── pid_13.json │ │ ├── pid_14.json │ │ ├── pid_15.json │ │ ├── pid_16.json │ │ ├── pid_17.json │ │ ├── pid_18.json │ │ ├── pid_19.json │ │ ├── pid_20.json │ │ ├── pid_5.json │ │ ├── pid_6.json │ │ ├── pid_7.json │ │ ├── pid_8.json │ │ ├── pid_9.json │ │ ├── rl_10.json │ │ ├── rl_11.json │ │ ├── rl_12.json │ │ ├── rl_13.json │ │ ├── rl_14.json │ │ ├── rl_15.json │ │ ├── rl_16.json │ │ ├── rl_17.json │ │ ├── rl_18.json │ │ ├── rl_19.json │ │ ├── rl_20.json │ │ ├── rl_5.json │ │ ├── rl_6.json │ │ ├── rl_7.json │ │ ├── rl_8.json │ │ └── rl_9.json │ │ ├── eval.sh │ │ ├── long_trajectory_jsons │ │ ├── pid_14.json │ │ ├── pid_17.json │ │ ├── pid_20.json │ │ ├── pid_23.json │ │ ├── pid_26.json │ │ ├── rl_14.json │ │ ├── rl_17.json │ │ ├── rl_20.json │ │ ├── rl_23.json │ │ └── rl_26.json │ │ └── recomputed_pid_long_traj │ │ ├── pid_14.json │ │ ├── pid_17.json │ │ ├── pid_20.json │ │ ├── pid_23.json │ │ └── pid_26.json ├── generate_plots.sh ├── test_pid.sh ├── test_rl.sh ├── test_tracks │ ├── eval-v0_n-ctrl-points-10_n-tracks-200_2024-02-12_15:01:53_bdee17ed-07ad-4e26-8e68-fa0a5ca1318c │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 100.npy │ │ ├── 101.npy │ │ ├── 102.npy │ │ ├── 103.npy │ │ ├── 104.npy │ │ ├── 105.npy │ │ ├── 106.npy │ │ ├── 107.npy │ │ ├── 108.npy │ │ ├── 109.npy │ │ ├── 11.npy │ │ ├── 110.npy │ │ ├── 111.npy │ │ ├── 112.npy │ │ ├── 113.npy │ │ ├── 114.npy │ │ ├── 115.npy │ │ ├── 116.npy │ │ ├── 117.npy │ │ ├── 118.npy │ │ ├── 119.npy │ │ ├── 12.npy │ │ ├── 120.npy │ │ ├── 121.npy │ │ ├── 122.npy │ │ ├── 123.npy │ │ ├── 124.npy │ │ ├── 125.npy │ │ ├── 126.npy │ │ ├── 127.npy │ │ ├── 128.npy │ │ ├── 129.npy │ │ ├── 13.npy │ │ ├── 130.npy │ │ ├── 131.npy │ │ ├── 132.npy │ │ ├── 133.npy │ │ ├── 134.npy │ │ ├── 135.npy │ │ ├── 136.npy │ │ ├── 137.npy │ │ ├── 138.npy │ │ ├── 139.npy │ │ ├── 14.npy │ │ ├── 140.npy │ │ ├── 141.npy │ │ ├── 142.npy │ │ ├── 143.npy │ │ ├── 144.npy │ │ ├── 145.npy │ │ ├── 146.npy │ │ ├── 147.npy │ │ ├── 148.npy │ │ ├── 149.npy │ │ ├── 15.npy │ │ ├── 150.npy │ │ ├── 151.npy │ │ ├── 152.npy │ │ ├── 153.npy │ │ ├── 154.npy │ │ ├── 155.npy │ │ ├── 156.npy │ │ ├── 157.npy │ │ ├── 158.npy │ │ ├── 159.npy │ │ ├── 16.npy │ │ ├── 160.npy │ │ ├── 161.npy │ │ ├── 162.npy │ │ ├── 163.npy │ │ ├── 164.npy │ │ ├── 165.npy │ │ ├── 166.npy │ │ ├── 167.npy │ │ ├── 168.npy │ │ ├── 169.npy │ │ ├── 17.npy │ │ ├── 170.npy │ │ ├── 171.npy │ │ ├── 172.npy │ │ ├── 173.npy │ │ ├── 174.npy │ │ ├── 175.npy │ │ ├── 176.npy │ │ ├── 177.npy │ │ ├── 178.npy │ │ ├── 179.npy │ │ ├── 18.npy │ │ ├── 180.npy │ │ ├── 181.npy │ │ ├── 182.npy │ │ ├── 183.npy │ │ ├── 184.npy │ │ ├── 185.npy │ │ ├── 186.npy │ │ ├── 187.npy │ │ ├── 188.npy │ │ ├── 189.npy │ │ ├── 19.npy │ │ ├── 190.npy │ │ ├── 191.npy │ │ ├── 192.npy │ │ ├── 193.npy │ │ ├── 194.npy │ │ ├── 195.npy │ │ ├── 196.npy │ │ ├── 197.npy │ │ ├── 198.npy │ │ ├── 199.npy │ │ ├── 2.npy │ │ ├── 20.npy │ │ ├── 21.npy │ │ ├── 22.npy │ │ ├── 23.npy │ │ ├── 24.npy │ │ ├── 25.npy │ │ ├── 26.npy │ │ ├── 27.npy │ │ ├── 28.npy │ │ ├── 29.npy │ │ ├── 3.npy │ │ ├── 30.npy │ │ ├── 31.npy │ │ ├── 32.npy │ │ ├── 33.npy │ │ ├── 34.npy │ │ ├── 35.npy │ │ ├── 36.npy │ │ ├── 37.npy │ │ ├── 38.npy │ │ ├── 39.npy │ │ ├── 4.npy │ │ ├── 40.npy │ │ ├── 41.npy │ │ ├── 42.npy │ │ ├── 43.npy │ │ ├── 44.npy │ │ ├── 45.npy │ │ ├── 46.npy │ │ ├── 47.npy │ │ ├── 48.npy │ │ ├── 49.npy │ │ ├── 5.npy │ │ ├── 50.npy │ │ ├── 51.npy │ │ ├── 52.npy │ │ ├── 53.npy │ │ ├── 54.npy │ │ ├── 55.npy │ │ ├── 56.npy │ │ ├── 57.npy │ │ ├── 58.npy │ │ ├── 59.npy │ │ ├── 6.npy │ │ ├── 60.npy │ │ ├── 61.npy │ │ ├── 62.npy │ │ ├── 63.npy │ │ ├── 64.npy │ │ ├── 65.npy │ │ ├── 66.npy │ │ ├── 67.npy │ │ ├── 68.npy │ │ ├── 69.npy │ │ ├── 7.npy │ │ ├── 70.npy │ │ ├── 71.npy │ │ ├── 72.npy │ │ ├── 73.npy │ │ ├── 74.npy │ │ ├── 75.npy │ │ ├── 76.npy │ │ ├── 77.npy │ │ ├── 78.npy │ │ ├── 79.npy │ │ ├── 8.npy │ │ ├── 80.npy │ │ ├── 81.npy │ │ ├── 82.npy │ │ ├── 83.npy │ │ ├── 84.npy │ │ ├── 85.npy │ │ ├── 86.npy │ │ ├── 87.npy │ │ ├── 88.npy │ │ ├── 89.npy │ │ ├── 9.npy │ │ ├── 90.npy │ │ ├── 91.npy │ │ ├── 92.npy │ │ ├── 93.npy │ │ ├── 94.npy │ │ ├── 95.npy │ │ ├── 96.npy │ │ ├── 97.npy │ │ ├── 98.npy │ │ └── 99.npy │ ├── eval-v0_n-ctrl-points-3_n-tracks-200_2024-02-12_12:21:14_3115f5a9-bd48-4b63-9194-5eda43e1329d │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 100.npy │ │ ├── 101.npy │ │ ├── 102.npy │ │ ├── 103.npy │ │ ├── 104.npy │ │ ├── 105.npy │ │ ├── 106.npy │ │ ├── 107.npy │ │ ├── 108.npy │ │ ├── 109.npy │ │ ├── 11.npy │ │ ├── 110.npy │ │ ├── 111.npy │ │ ├── 112.npy │ │ ├── 113.npy │ │ ├── 114.npy │ │ ├── 115.npy │ │ ├── 116.npy │ │ ├── 117.npy │ │ ├── 118.npy │ │ ├── 119.npy │ │ ├── 12.npy │ │ ├── 120.npy │ │ ├── 121.npy │ │ ├── 122.npy │ │ ├── 123.npy │ │ ├── 124.npy │ │ ├── 125.npy │ │ ├── 126.npy │ │ ├── 127.npy │ │ ├── 128.npy │ │ ├── 129.npy │ │ ├── 13.npy │ │ ├── 130.npy │ │ ├── 131.npy │ │ ├── 132.npy │ │ ├── 133.npy │ │ ├── 134.npy │ │ ├── 135.npy │ │ ├── 136.npy │ │ ├── 137.npy │ │ ├── 138.npy │ │ ├── 139.npy │ │ ├── 14.npy │ │ ├── 140.npy │ │ ├── 141.npy │ │ ├── 142.npy │ │ ├── 143.npy │ │ ├── 144.npy │ │ ├── 145.npy │ │ ├── 146.npy │ │ ├── 147.npy │ │ ├── 148.npy │ │ ├── 149.npy │ │ ├── 15.npy │ │ ├── 150.npy │ │ ├── 151.npy │ │ ├── 152.npy │ │ ├── 153.npy │ │ ├── 154.npy │ │ ├── 155.npy │ │ ├── 156.npy │ │ ├── 157.npy │ │ ├── 158.npy │ │ ├── 159.npy │ │ ├── 16.npy │ │ ├── 160.npy │ │ ├── 161.npy │ │ ├── 162.npy │ │ ├── 163.npy │ │ ├── 164.npy │ │ ├── 165.npy │ │ ├── 166.npy │ │ ├── 167.npy │ │ ├── 168.npy │ │ ├── 169.npy │ │ ├── 17.npy │ │ ├── 170.npy │ │ ├── 171.npy │ │ ├── 172.npy │ │ ├── 173.npy │ │ ├── 174.npy │ │ ├── 175.npy │ │ ├── 176.npy │ │ ├── 177.npy │ │ ├── 178.npy │ │ ├── 179.npy │ │ ├── 18.npy │ │ ├── 180.npy │ │ ├── 181.npy │ │ ├── 182.npy │ │ ├── 183.npy │ │ ├── 184.npy │ │ ├── 185.npy │ │ ├── 186.npy │ │ ├── 187.npy │ │ ├── 188.npy │ │ ├── 189.npy │ │ ├── 19.npy │ │ ├── 190.npy │ │ ├── 191.npy │ │ ├── 192.npy │ │ ├── 193.npy │ │ ├── 194.npy │ │ ├── 195.npy │ │ ├── 196.npy │ │ ├── 197.npy │ │ ├── 198.npy │ │ ├── 199.npy │ │ ├── 2.npy │ │ ├── 20.npy │ │ ├── 21.npy │ │ ├── 22.npy │ │ ├── 23.npy │ │ ├── 24.npy │ │ ├── 25.npy │ │ ├── 26.npy │ │ ├── 27.npy │ │ ├── 28.npy │ │ ├── 29.npy │ │ ├── 3.npy │ │ ├── 30.npy │ │ ├── 31.npy │ │ ├── 32.npy │ │ ├── 33.npy │ │ ├── 34.npy │ │ ├── 35.npy │ │ ├── 36.npy │ │ ├── 37.npy │ │ ├── 38.npy │ │ ├── 39.npy │ │ ├── 4.npy │ │ ├── 40.npy │ │ ├── 41.npy │ │ ├── 42.npy │ │ ├── 43.npy │ │ ├── 44.npy │ │ ├── 45.npy │ │ ├── 46.npy │ │ ├── 47.npy │ │ ├── 48.npy │ │ ├── 49.npy │ │ ├── 5.npy │ │ ├── 50.npy │ │ ├── 51.npy │ │ ├── 52.npy │ │ ├── 53.npy │ │ ├── 54.npy │ │ ├── 55.npy │ │ ├── 56.npy │ │ ├── 57.npy │ │ ├── 58.npy │ │ ├── 59.npy │ │ ├── 6.npy │ │ ├── 60.npy │ │ ├── 61.npy │ │ ├── 62.npy │ │ ├── 63.npy │ │ ├── 64.npy │ │ ├── 65.npy │ │ ├── 66.npy │ │ ├── 67.npy │ │ ├── 68.npy │ │ ├── 69.npy │ │ ├── 7.npy │ │ ├── 70.npy │ │ ├── 71.npy │ │ ├── 72.npy │ │ ├── 73.npy │ │ ├── 74.npy │ │ ├── 75.npy │ │ ├── 76.npy │ │ ├── 77.npy │ │ ├── 78.npy │ │ ├── 79.npy │ │ ├── 8.npy │ │ ├── 80.npy │ │ ├── 81.npy │ │ ├── 82.npy │ │ ├── 83.npy │ │ ├── 84.npy │ │ ├── 85.npy │ │ ├── 86.npy │ │ ├── 87.npy │ │ ├── 88.npy │ │ ├── 89.npy │ │ ├── 9.npy │ │ ├── 90.npy │ │ ├── 91.npy │ │ ├── 92.npy │ │ ├── 93.npy │ │ ├── 94.npy │ │ ├── 95.npy │ │ ├── 96.npy │ │ ├── 97.npy │ │ ├── 98.npy │ │ └── 99.npy │ └── eval-v0_n-ctrl-points-3_n-tracks-20_2024-02-11_22:18:28_46929077-0248-4c6e-b2b1-da2afb13b2e2 │ │ ├── 0.npy │ │ ├── 1.npy │ │ ├── 10.npy │ │ ├── 11.npy │ │ ├── 12.npy │ │ ├── 13.npy │ │ ├── 14.npy │ │ ├── 15.npy │ │ ├── 16.npy │ │ ├── 17.npy │ │ ├── 18.npy │ │ ├── 19.npy │ │ ├── 2.npy │ │ ├── 3.npy │ │ ├── 4.npy │ │ ├── 5.npy │ │ ├── 6.npy │ │ ├── 7.npy │ │ ├── 8.npy │ │ └── 9.npy ├── train_rl.sh ├── utils │ ├── __init__.py │ ├── gen_eval_tracks.py │ └── utils.py ├── vis_rl.sh └── visualization │ ├── __init__.py │ ├── gen_random_trajectory.py │ ├── logs │ ├── landing_pid │ │ ├── 0.pos.npy │ │ ├── 0.vel.npy │ │ ├── 1.pos.npy │ │ ├── 1.vel.npy │ │ ├── 10.pos.npy │ │ ├── 10.vel.npy │ │ ├── 100.pos.npy │ │ ├── 100.vel.npy │ │ ├── 101.pos.npy │ │ ├── 101.vel.npy │ │ ├── 102.pos.npy │ │ ├── 102.vel.npy │ │ ├── 103.pos.npy │ │ ├── 103.vel.npy │ │ ├── 104.pos.npy │ │ ├── 104.vel.npy │ │ ├── 105.pos.npy │ │ ├── 105.vel.npy │ │ ├── 106.pos.npy │ │ ├── 106.vel.npy │ │ ├── 107.pos.npy │ │ ├── 107.vel.npy │ │ ├── 108.pos.npy │ │ ├── 108.vel.npy │ │ ├── 109.pos.npy │ │ ├── 109.vel.npy │ │ ├── 11.pos.npy │ │ ├── 11.vel.npy │ │ ├── 110.pos.npy │ │ ├── 110.vel.npy │ │ ├── 111.pos.npy │ │ ├── 111.vel.npy │ │ ├── 112.pos.npy │ │ ├── 112.vel.npy │ │ ├── 113.pos.npy │ │ ├── 113.vel.npy │ │ ├── 114.pos.npy │ │ ├── 114.vel.npy │ │ ├── 115.pos.npy │ │ ├── 115.vel.npy │ │ ├── 116.pos.npy │ │ ├── 116.vel.npy │ │ ├── 117.pos.npy │ │ ├── 117.vel.npy │ │ ├── 118.pos.npy │ │ ├── 118.vel.npy │ │ ├── 119.pos.npy │ │ ├── 119.vel.npy │ │ ├── 12.pos.npy │ │ ├── 12.vel.npy │ │ ├── 120.pos.npy │ │ ├── 120.vel.npy │ │ ├── 121.pos.npy │ │ ├── 121.vel.npy │ │ ├── 122.pos.npy │ │ ├── 122.vel.npy │ │ ├── 123.pos.npy │ │ ├── 123.vel.npy │ │ ├── 124.pos.npy │ │ ├── 124.vel.npy │ │ ├── 125.pos.npy │ │ ├── 125.vel.npy │ │ ├── 126.pos.npy │ │ ├── 126.vel.npy │ │ ├── 127.pos.npy │ │ ├── 127.vel.npy │ │ ├── 128.pos.npy │ │ ├── 128.vel.npy │ │ ├── 129.pos.npy │ │ ├── 129.vel.npy │ │ ├── 13.pos.npy │ │ ├── 13.vel.npy │ │ ├── 130.pos.npy │ │ ├── 130.vel.npy │ │ ├── 131.pos.npy │ │ ├── 131.vel.npy │ │ ├── 132.pos.npy │ │ ├── 132.vel.npy │ │ ├── 133.pos.npy │ │ ├── 133.vel.npy │ │ ├── 134.pos.npy │ │ ├── 134.vel.npy │ │ ├── 135.pos.npy │ │ ├── 135.vel.npy │ │ ├── 136.pos.npy │ │ ├── 136.vel.npy │ │ ├── 137.pos.npy │ │ ├── 137.vel.npy │ │ ├── 138.pos.npy │ │ ├── 138.vel.npy │ │ ├── 139.pos.npy │ │ ├── 139.vel.npy │ │ ├── 14.pos.npy │ │ ├── 14.vel.npy │ │ ├── 140.pos.npy │ │ ├── 140.vel.npy │ │ ├── 141.pos.npy │ │ ├── 141.vel.npy │ │ ├── 142.pos.npy │ │ ├── 142.vel.npy │ │ ├── 143.pos.npy │ │ ├── 143.vel.npy │ │ ├── 144.pos.npy │ │ ├── 144.vel.npy │ │ ├── 145.pos.npy │ │ ├── 145.vel.npy │ │ ├── 146.pos.npy │ │ ├── 146.vel.npy │ │ ├── 147.pos.npy │ │ ├── 147.vel.npy │ │ ├── 148.pos.npy │ │ ├── 148.vel.npy │ │ ├── 149.pos.npy │ │ ├── 149.vel.npy │ │ ├── 15.pos.npy │ │ ├── 15.vel.npy │ │ ├── 150.pos.npy │ │ ├── 150.vel.npy │ │ ├── 151.pos.npy │ │ ├── 151.vel.npy │ │ ├── 152.pos.npy │ │ ├── 152.vel.npy │ │ ├── 153.pos.npy │ │ ├── 153.vel.npy │ │ ├── 154.pos.npy │ │ ├── 154.vel.npy │ │ ├── 155.pos.npy │ │ ├── 155.vel.npy │ │ ├── 156.pos.npy │ │ ├── 156.vel.npy │ │ ├── 157.pos.npy │ │ ├── 157.vel.npy │ │ ├── 158.pos.npy │ │ ├── 158.vel.npy │ │ ├── 159.pos.npy │ │ ├── 159.vel.npy │ │ ├── 16.pos.npy │ │ ├── 16.vel.npy │ │ ├── 160.pos.npy │ │ ├── 160.vel.npy │ │ ├── 161.pos.npy │ │ ├── 161.vel.npy │ │ ├── 162.pos.npy │ │ ├── 162.vel.npy │ │ ├── 163.pos.npy │ │ ├── 163.vel.npy │ │ ├── 164.pos.npy │ │ ├── 164.vel.npy │ │ ├── 165.pos.npy │ │ ├── 165.vel.npy │ │ ├── 166.pos.npy │ │ ├── 166.vel.npy │ │ ├── 167.pos.npy │ │ ├── 167.vel.npy │ │ ├── 168.pos.npy │ │ ├── 168.vel.npy │ │ ├── 169.pos.npy │ │ ├── 169.vel.npy │ │ ├── 17.pos.npy │ │ ├── 17.vel.npy │ │ ├── 170.pos.npy │ │ ├── 170.vel.npy │ │ ├── 171.pos.npy │ │ ├── 171.vel.npy │ │ ├── 172.pos.npy │ │ ├── 172.vel.npy │ │ ├── 173.pos.npy │ │ ├── 173.vel.npy │ │ ├── 174.pos.npy │ │ ├── 174.vel.npy │ │ ├── 175.pos.npy │ │ ├── 175.vel.npy │ │ ├── 176.pos.npy │ │ ├── 176.vel.npy │ │ ├── 177.pos.npy │ │ ├── 177.vel.npy │ │ ├── 178.pos.npy │ │ ├── 178.vel.npy │ │ ├── 179.pos.npy │ │ ├── 179.vel.npy │ │ ├── 18.pos.npy │ │ ├── 18.vel.npy │ │ ├── 180.pos.npy │ │ ├── 180.vel.npy │ │ ├── 181.pos.npy │ │ ├── 181.vel.npy │ │ ├── 182.pos.npy │ │ ├── 182.vel.npy │ │ ├── 183.pos.npy │ │ ├── 183.vel.npy │ │ ├── 184.pos.npy │ │ ├── 184.vel.npy │ │ ├── 185.pos.npy │ │ ├── 185.vel.npy │ │ ├── 186.pos.npy │ │ ├── 186.vel.npy │ │ ├── 187.pos.npy │ │ ├── 187.vel.npy │ │ ├── 188.pos.npy │ │ ├── 188.vel.npy │ │ ├── 189.pos.npy │ │ ├── 189.vel.npy │ │ ├── 19.pos.npy │ │ ├── 19.vel.npy │ │ ├── 190.pos.npy │ │ ├── 190.vel.npy │ │ ├── 191.pos.npy │ │ ├── 191.vel.npy │ │ ├── 192.pos.npy │ │ ├── 192.vel.npy │ │ ├── 193.pos.npy │ │ ├── 193.vel.npy │ │ ├── 194.pos.npy │ │ ├── 194.vel.npy │ │ ├── 195.pos.npy │ │ ├── 195.vel.npy │ │ ├── 196.pos.npy │ │ ├── 196.vel.npy │ │ ├── 197.pos.npy │ │ ├── 197.vel.npy │ │ ├── 198.pos.npy │ │ ├── 198.vel.npy │ │ ├── 199.pos.npy │ │ ├── 199.vel.npy │ │ ├── 2.pos.npy │ │ ├── 2.vel.npy │ │ ├── 20.pos.npy │ │ ├── 20.vel.npy │ │ ├── 200.pos.npy │ │ ├── 200.vel.npy │ │ ├── 201.pos.npy │ │ ├── 201.vel.npy │ │ ├── 202.pos.npy │ │ ├── 202.vel.npy │ │ ├── 203.pos.npy │ │ ├── 203.vel.npy │ │ ├── 204.pos.npy │ │ ├── 204.vel.npy │ │ ├── 205.pos.npy │ │ ├── 205.vel.npy │ │ ├── 206.pos.npy │ │ ├── 206.vel.npy │ │ ├── 207.pos.npy │ │ ├── 207.vel.npy │ │ ├── 208.pos.npy │ │ ├── 208.vel.npy │ │ ├── 209.pos.npy │ │ ├── 209.vel.npy │ │ ├── 21.pos.npy │ │ ├── 21.vel.npy │ │ ├── 210.pos.npy │ │ ├── 210.vel.npy │ │ ├── 211.pos.npy │ │ ├── 211.vel.npy │ │ ├── 212.pos.npy │ │ ├── 212.vel.npy │ │ ├── 213.pos.npy │ │ ├── 213.vel.npy │ │ ├── 214.pos.npy │ │ ├── 214.vel.npy │ │ ├── 215.pos.npy │ │ ├── 215.vel.npy │ │ ├── 216.pos.npy │ │ ├── 216.vel.npy │ │ ├── 217.pos.npy │ │ ├── 217.vel.npy │ │ ├── 218.pos.npy │ │ ├── 218.vel.npy │ │ ├── 219.pos.npy │ │ ├── 219.vel.npy │ │ ├── 22.pos.npy │ │ ├── 22.vel.npy │ │ ├── 220.pos.npy │ │ ├── 220.vel.npy │ │ ├── 221.pos.npy │ │ ├── 221.vel.npy │ │ ├── 222.pos.npy │ │ ├── 222.vel.npy │ │ ├── 223.pos.npy │ │ ├── 223.vel.npy │ │ ├── 224.pos.npy │ │ ├── 224.vel.npy │ │ ├── 225.pos.npy │ │ ├── 225.vel.npy │ │ ├── 226.pos.npy │ │ ├── 226.vel.npy │ │ ├── 227.pos.npy │ │ ├── 227.vel.npy │ │ ├── 228.pos.npy │ │ ├── 228.vel.npy │ │ ├── 229.pos.npy │ │ ├── 229.vel.npy │ │ ├── 23.pos.npy │ │ ├── 23.vel.npy │ │ ├── 230.pos.npy │ │ ├── 230.vel.npy │ │ ├── 231.pos.npy │ │ ├── 231.vel.npy │ │ ├── 232.pos.npy │ │ ├── 232.vel.npy │ │ ├── 233.pos.npy │ │ ├── 233.vel.npy │ │ ├── 234.pos.npy │ │ ├── 234.vel.npy │ │ ├── 235.pos.npy │ │ ├── 235.vel.npy │ │ ├── 236.pos.npy │ │ ├── 236.vel.npy │ │ ├── 237.pos.npy │ │ ├── 237.vel.npy │ │ ├── 238.pos.npy │ │ ├── 238.vel.npy │ │ ├── 239.pos.npy │ │ ├── 239.vel.npy │ │ ├── 24.pos.npy │ │ ├── 24.vel.npy │ │ ├── 240.pos.npy │ │ ├── 240.vel.npy │ │ ├── 241.pos.npy │ │ ├── 241.vel.npy │ │ ├── 242.pos.npy │ │ ├── 242.vel.npy │ │ ├── 243.pos.npy │ │ ├── 243.vel.npy │ │ ├── 244.pos.npy │ │ ├── 244.vel.npy │ │ ├── 245.pos.npy │ │ ├── 245.vel.npy │ │ ├── 246.pos.npy │ │ ├── 246.vel.npy │ │ ├── 247.pos.npy │ │ ├── 247.vel.npy │ │ ├── 248.pos.npy │ │ ├── 248.vel.npy │ │ ├── 249.pos.npy │ │ ├── 249.vel.npy │ │ ├── 25.pos.npy │ │ ├── 25.vel.npy │ │ ├── 250.pos.npy │ │ ├── 250.vel.npy │ │ ├── 251.pos.npy │ │ ├── 251.vel.npy │ │ ├── 252.pos.npy │ │ ├── 252.vel.npy │ │ ├── 253.pos.npy │ │ ├── 253.vel.npy │ │ ├── 254.pos.npy │ │ ├── 254.vel.npy │ │ ├── 255.pos.npy │ │ ├── 255.vel.npy │ │ ├── 256.pos.npy │ │ ├── 256.vel.npy │ │ ├── 257.pos.npy │ │ ├── 257.vel.npy │ │ ├── 258.pos.npy │ │ ├── 258.vel.npy │ │ ├── 259.pos.npy │ │ ├── 259.vel.npy │ │ ├── 26.pos.npy │ │ ├── 26.vel.npy │ │ ├── 260.pos.npy │ │ ├── 260.vel.npy │ │ ├── 261.pos.npy │ │ ├── 261.vel.npy │ │ ├── 262.pos.npy │ │ ├── 262.vel.npy │ │ ├── 263.pos.npy │ │ ├── 263.vel.npy │ │ ├── 264.pos.npy │ │ ├── 264.vel.npy │ │ ├── 265.pos.npy │ │ ├── 265.vel.npy │ │ ├── 266.pos.npy │ │ ├── 266.vel.npy │ │ ├── 267.pos.npy │ │ ├── 267.vel.npy │ │ ├── 268.pos.npy │ │ ├── 268.vel.npy │ │ ├── 269.pos.npy │ │ ├── 269.vel.npy │ │ ├── 27.pos.npy │ │ ├── 27.vel.npy │ │ ├── 270.pos.npy │ │ ├── 270.vel.npy │ │ ├── 271.pos.npy │ │ ├── 271.vel.npy │ │ ├── 272.pos.npy │ │ ├── 272.vel.npy │ │ ├── 273.pos.npy │ │ ├── 273.vel.npy │ │ ├── 274.pos.npy │ │ ├── 274.vel.npy │ │ ├── 275.pos.npy │ │ ├── 275.vel.npy │ │ ├── 276.pos.npy │ │ ├── 276.vel.npy │ │ ├── 277.pos.npy │ │ ├── 277.vel.npy │ │ ├── 278.pos.npy │ │ ├── 278.vel.npy │ │ ├── 279.pos.npy │ │ ├── 279.vel.npy │ │ ├── 28.pos.npy │ │ ├── 28.vel.npy │ │ ├── 280.pos.npy │ │ ├── 280.vel.npy │ │ ├── 281.pos.npy │ │ ├── 281.vel.npy │ │ ├── 282.pos.npy │ │ ├── 282.vel.npy │ │ ├── 283.pos.npy │ │ ├── 283.vel.npy │ │ ├── 284.pos.npy │ │ ├── 284.vel.npy │ │ ├── 285.pos.npy │ │ ├── 285.vel.npy │ │ ├── 286.pos.npy │ │ ├── 286.vel.npy │ │ ├── 287.pos.npy │ │ ├── 287.vel.npy │ │ ├── 288.pos.npy │ │ ├── 288.vel.npy │ │ ├── 289.pos.npy │ │ ├── 289.vel.npy │ │ ├── 29.pos.npy │ │ ├── 29.vel.npy │ │ ├── 290.pos.npy │ │ ├── 290.vel.npy │ │ ├── 291.pos.npy │ │ ├── 291.vel.npy │ │ ├── 292.pos.npy │ │ ├── 292.vel.npy │ │ ├── 293.pos.npy │ │ ├── 293.vel.npy │ │ ├── 294.pos.npy │ │ ├── 294.vel.npy │ │ ├── 295.pos.npy │ │ ├── 295.vel.npy │ │ ├── 296.pos.npy │ │ ├── 296.vel.npy │ │ ├── 297.pos.npy │ │ ├── 297.vel.npy │ │ ├── 298.pos.npy │ │ ├── 298.vel.npy │ │ ├── 299.pos.npy │ │ ├── 299.vel.npy │ │ ├── 3.pos.npy │ │ ├── 3.vel.npy │ │ ├── 30.pos.npy │ │ ├── 30.vel.npy │ │ ├── 300.pos.npy │ │ ├── 300.vel.npy │ │ ├── 301.pos.npy │ │ ├── 301.vel.npy │ │ ├── 302.pos.npy │ │ ├── 302.vel.npy │ │ ├── 303.pos.npy │ │ ├── 303.vel.npy │ │ ├── 304.pos.npy │ │ ├── 304.vel.npy │ │ ├── 305.pos.npy │ │ ├── 305.vel.npy │ │ ├── 306.pos.npy │ │ ├── 306.vel.npy │ │ ├── 307.pos.npy │ │ ├── 307.vel.npy │ │ ├── 308.pos.npy │ │ ├── 308.vel.npy │ │ ├── 309.pos.npy │ │ ├── 309.vel.npy │ │ ├── 31.pos.npy │ │ ├── 31.vel.npy │ │ ├── 310.pos.npy │ │ ├── 310.vel.npy │ │ ├── 311.pos.npy │ │ ├── 311.vel.npy │ │ ├── 312.pos.npy │ │ ├── 312.vel.npy │ │ ├── 313.pos.npy │ │ ├── 313.vel.npy │ │ ├── 314.pos.npy │ │ ├── 314.vel.npy │ │ ├── 315.pos.npy │ │ ├── 315.vel.npy │ │ ├── 316.pos.npy │ │ ├── 316.vel.npy │ │ ├── 317.pos.npy │ │ ├── 317.vel.npy │ │ ├── 318.pos.npy │ │ ├── 318.vel.npy │ │ ├── 319.pos.npy │ │ ├── 319.vel.npy │ │ ├── 32.pos.npy │ │ ├── 32.vel.npy │ │ ├── 320.pos.npy │ │ ├── 320.vel.npy │ │ ├── 321.pos.npy │ │ ├── 321.vel.npy │ │ ├── 322.pos.npy │ │ ├── 322.vel.npy │ │ ├── 323.pos.npy │ │ ├── 323.vel.npy │ │ ├── 324.pos.npy │ │ ├── 324.vel.npy │ │ ├── 325.pos.npy │ │ ├── 325.vel.npy │ │ ├── 326.pos.npy │ │ ├── 326.vel.npy │ │ ├── 327.pos.npy │ │ ├── 327.vel.npy │ │ ├── 328.pos.npy │ │ ├── 328.vel.npy │ │ ├── 329.pos.npy │ │ ├── 329.vel.npy │ │ ├── 33.pos.npy │ │ ├── 33.vel.npy │ │ ├── 330.pos.npy │ │ ├── 330.vel.npy │ │ ├── 331.pos.npy │ │ ├── 331.vel.npy │ │ ├── 332.pos.npy │ │ ├── 332.vel.npy │ │ ├── 333.pos.npy │ │ ├── 333.vel.npy │ │ ├── 334.pos.npy │ │ ├── 334.vel.npy │ │ ├── 335.pos.npy │ │ ├── 335.vel.npy │ │ ├── 336.pos.npy │ │ ├── 336.vel.npy │ │ ├── 337.pos.npy │ │ ├── 337.vel.npy │ │ ├── 338.pos.npy │ │ ├── 338.vel.npy │ │ ├── 339.pos.npy │ │ ├── 339.vel.npy │ │ ├── 34.pos.npy │ │ ├── 34.vel.npy │ │ ├── 340.pos.npy │ │ ├── 340.vel.npy │ │ ├── 341.pos.npy │ │ ├── 341.vel.npy │ │ ├── 342.pos.npy │ │ ├── 342.vel.npy │ │ ├── 343.pos.npy │ │ ├── 343.vel.npy │ │ ├── 344.pos.npy │ │ ├── 344.vel.npy │ │ ├── 345.pos.npy │ │ ├── 345.vel.npy │ │ ├── 346.pos.npy │ │ ├── 346.vel.npy │ │ ├── 347.pos.npy │ │ ├── 347.vel.npy │ │ ├── 348.pos.npy │ │ ├── 348.vel.npy │ │ ├── 349.pos.npy │ │ ├── 349.vel.npy │ │ ├── 35.pos.npy │ │ ├── 35.vel.npy │ │ ├── 350.pos.npy │ │ ├── 350.vel.npy │ │ ├── 351.pos.npy │ │ ├── 351.vel.npy │ │ ├── 352.pos.npy │ │ ├── 352.vel.npy │ │ ├── 353.pos.npy │ │ ├── 353.vel.npy │ │ ├── 354.pos.npy │ │ ├── 354.vel.npy │ │ ├── 355.pos.npy │ │ ├── 355.vel.npy │ │ ├── 356.pos.npy │ │ ├── 356.vel.npy │ │ ├── 357.pos.npy │ │ ├── 357.vel.npy │ │ ├── 358.pos.npy │ │ ├── 358.vel.npy │ │ ├── 359.pos.npy │ │ ├── 359.vel.npy │ │ ├── 36.pos.npy │ │ ├── 36.vel.npy │ │ ├── 360.pos.npy │ │ ├── 360.vel.npy │ │ ├── 361.pos.npy │ │ ├── 361.vel.npy │ │ ├── 362.pos.npy │ │ ├── 362.vel.npy │ │ ├── 363.pos.npy │ │ ├── 363.vel.npy │ │ ├── 364.pos.npy │ │ ├── 364.vel.npy │ │ ├── 365.pos.npy │ │ ├── 365.vel.npy │ │ ├── 366.pos.npy │ │ ├── 366.vel.npy │ │ ├── 367.pos.npy │ │ ├── 367.vel.npy │ │ ├── 368.pos.npy │ │ ├── 368.vel.npy │ │ ├── 369.pos.npy │ │ ├── 369.vel.npy │ │ ├── 37.pos.npy │ │ ├── 37.vel.npy │ │ ├── 370.pos.npy │ │ ├── 370.vel.npy │ │ ├── 371.pos.npy │ │ ├── 371.vel.npy │ │ ├── 372.pos.npy │ │ ├── 372.vel.npy │ │ ├── 373.pos.npy │ │ ├── 373.vel.npy │ │ ├── 374.pos.npy │ │ ├── 374.vel.npy │ │ ├── 375.pos.npy │ │ ├── 375.vel.npy │ │ ├── 376.pos.npy │ │ ├── 376.vel.npy │ │ ├── 377.pos.npy │ │ ├── 377.vel.npy │ │ ├── 378.pos.npy │ │ ├── 378.vel.npy │ │ ├── 379.pos.npy │ │ ├── 379.vel.npy │ │ ├── 38.pos.npy │ │ ├── 38.vel.npy │ │ ├── 380.pos.npy │ │ ├── 380.vel.npy │ │ ├── 381.pos.npy │ │ ├── 381.vel.npy │ │ ├── 382.pos.npy │ │ ├── 382.vel.npy │ │ ├── 383.pos.npy │ │ ├── 383.vel.npy │ │ ├── 384.pos.npy │ │ ├── 384.vel.npy │ │ ├── 385.pos.npy │ │ ├── 385.vel.npy │ │ ├── 386.pos.npy │ │ ├── 386.vel.npy │ │ ├── 387.pos.npy │ │ ├── 387.vel.npy │ │ ├── 388.pos.npy │ │ ├── 388.vel.npy │ │ ├── 389.pos.npy │ │ ├── 389.vel.npy │ │ ├── 39.pos.npy │ │ ├── 39.vel.npy │ │ ├── 390.pos.npy │ │ ├── 390.vel.npy │ │ ├── 391.pos.npy │ │ ├── 391.vel.npy │ │ ├── 392.pos.npy │ │ ├── 392.vel.npy │ │ ├── 393.pos.npy │ │ ├── 393.vel.npy │ │ ├── 394.pos.npy │ │ ├── 394.vel.npy │ │ ├── 395.pos.npy │ │ ├── 395.vel.npy │ │ ├── 396.pos.npy │ │ ├── 396.vel.npy │ │ ├── 397.pos.npy │ │ ├── 397.vel.npy │ │ ├── 398.pos.npy │ │ ├── 398.vel.npy │ │ ├── 399.pos.npy │ │ ├── 399.vel.npy │ │ ├── 4.pos.npy │ │ ├── 4.vel.npy │ │ ├── 40.pos.npy │ │ ├── 40.vel.npy │ │ ├── 400.pos.npy │ │ ├── 400.vel.npy │ │ ├── 401.pos.npy │ │ ├── 401.vel.npy │ │ ├── 402.pos.npy │ │ ├── 402.vel.npy │ │ ├── 403.pos.npy │ │ ├── 403.vel.npy │ │ ├── 404.pos.npy │ │ ├── 404.vel.npy │ │ ├── 405.pos.npy │ │ ├── 405.vel.npy │ │ ├── 406.pos.npy │ │ ├── 406.vel.npy │ │ ├── 407.pos.npy │ │ ├── 407.vel.npy │ │ ├── 408.pos.npy │ │ ├── 408.vel.npy │ │ ├── 409.pos.npy │ │ ├── 409.vel.npy │ │ ├── 41.pos.npy │ │ ├── 41.vel.npy │ │ ├── 410.pos.npy │ │ ├── 410.vel.npy │ │ ├── 411.pos.npy │ │ ├── 411.vel.npy │ │ ├── 412.pos.npy │ │ ├── 412.vel.npy │ │ ├── 413.pos.npy │ │ ├── 413.vel.npy │ │ ├── 414.pos.npy │ │ ├── 414.vel.npy │ │ ├── 415.pos.npy │ │ ├── 415.vel.npy │ │ ├── 416.pos.npy │ │ ├── 416.vel.npy │ │ ├── 417.pos.npy │ │ ├── 417.vel.npy │ │ ├── 418.pos.npy │ │ ├── 418.vel.npy │ │ ├── 419.pos.npy │ │ ├── 419.vel.npy │ │ ├── 42.pos.npy │ │ ├── 42.vel.npy │ │ ├── 420.pos.npy │ │ ├── 420.vel.npy │ │ ├── 421.pos.npy │ │ ├── 421.vel.npy │ │ ├── 422.pos.npy │ │ ├── 422.vel.npy │ │ ├── 423.pos.npy │ │ ├── 423.vel.npy │ │ ├── 424.pos.npy │ │ ├── 424.vel.npy │ │ ├── 425.pos.npy │ │ ├── 425.vel.npy │ │ ├── 426.pos.npy │ │ ├── 426.vel.npy │ │ ├── 427.pos.npy │ │ ├── 427.vel.npy │ │ ├── 428.pos.npy │ │ ├── 428.vel.npy │ │ ├── 429.pos.npy │ │ ├── 429.vel.npy │ │ ├── 43.pos.npy │ │ ├── 43.vel.npy │ │ ├── 430.pos.npy │ │ ├── 430.vel.npy │ │ ├── 431.pos.npy │ │ ├── 431.vel.npy │ │ ├── 432.pos.npy │ │ ├── 432.vel.npy │ │ ├── 433.pos.npy │ │ ├── 433.vel.npy │ │ ├── 434.pos.npy │ │ ├── 434.vel.npy │ │ ├── 435.pos.npy │ │ ├── 435.vel.npy │ │ ├── 436.pos.npy │ │ ├── 436.vel.npy │ │ ├── 437.pos.npy │ │ ├── 437.vel.npy │ │ ├── 438.pos.npy │ │ ├── 438.vel.npy │ │ ├── 44.pos.npy │ │ ├── 44.vel.npy │ │ ├── 45.pos.npy │ │ ├── 45.vel.npy │ │ ├── 46.pos.npy │ │ ├── 46.vel.npy │ │ ├── 47.pos.npy │ │ ├── 47.vel.npy │ │ ├── 48.pos.npy │ │ ├── 48.vel.npy │ │ ├── 49.pos.npy │ │ ├── 49.vel.npy │ │ ├── 5.pos.npy │ │ ├── 5.vel.npy │ │ ├── 50.pos.npy │ │ ├── 50.vel.npy │ │ ├── 51.pos.npy │ │ ├── 51.vel.npy │ │ ├── 52.pos.npy │ │ ├── 52.vel.npy │ │ ├── 53.pos.npy │ │ ├── 53.vel.npy │ │ ├── 54.pos.npy │ │ ├── 54.vel.npy │ │ ├── 55.pos.npy │ │ ├── 55.vel.npy │ │ ├── 56.pos.npy │ │ ├── 56.vel.npy │ │ ├── 57.pos.npy │ │ ├── 57.vel.npy │ │ ├── 58.pos.npy │ │ ├── 58.vel.npy │ │ ├── 59.pos.npy │ │ ├── 59.vel.npy │ │ ├── 6.pos.npy │ │ ├── 6.vel.npy │ │ ├── 60.pos.npy │ │ ├── 60.vel.npy │ │ ├── 61.pos.npy │ │ ├── 61.vel.npy │ │ ├── 62.pos.npy │ │ ├── 62.vel.npy │ │ ├── 63.pos.npy │ │ ├── 63.vel.npy │ │ ├── 64.pos.npy │ │ ├── 64.vel.npy │ │ ├── 65.pos.npy │ │ ├── 65.vel.npy │ │ ├── 66.pos.npy │ │ ├── 66.vel.npy │ │ ├── 67.pos.npy │ │ ├── 67.vel.npy │ │ ├── 68.pos.npy │ │ ├── 68.vel.npy │ │ ├── 69.pos.npy │ │ ├── 69.vel.npy │ │ ├── 7.pos.npy │ │ ├── 7.vel.npy │ │ ├── 70.pos.npy │ │ ├── 70.vel.npy │ │ ├── 71.pos.npy │ │ ├── 71.vel.npy │ │ ├── 72.pos.npy │ │ ├── 72.vel.npy │ │ ├── 73.pos.npy │ │ ├── 73.vel.npy │ │ ├── 74.pos.npy │ │ ├── 74.vel.npy │ │ ├── 75.pos.npy │ │ ├── 75.vel.npy │ │ ├── 76.pos.npy │ │ ├── 76.vel.npy │ │ ├── 77.pos.npy │ │ ├── 77.vel.npy │ │ ├── 78.pos.npy │ │ ├── 78.vel.npy │ │ ├── 79.pos.npy │ │ ├── 79.vel.npy │ │ ├── 8.pos.npy │ │ ├── 8.vel.npy │ │ ├── 80.pos.npy │ │ ├── 80.vel.npy │ │ ├── 81.pos.npy │ │ ├── 81.vel.npy │ │ ├── 82.pos.npy │ │ ├── 82.vel.npy │ │ ├── 83.pos.npy │ │ ├── 83.vel.npy │ │ ├── 84.pos.npy │ │ ├── 84.vel.npy │ │ ├── 85.pos.npy │ │ ├── 85.vel.npy │ │ ├── 86.pos.npy │ │ ├── 86.vel.npy │ │ ├── 87.pos.npy │ │ ├── 87.vel.npy │ │ ├── 88.pos.npy │ │ ├── 88.vel.npy │ │ ├── 89.pos.npy │ │ ├── 89.vel.npy │ │ ├── 9.pos.npy │ │ ├── 9.vel.npy │ │ ├── 90.pos.npy │ │ ├── 90.vel.npy │ │ ├── 91.pos.npy │ │ ├── 91.vel.npy │ │ ├── 92.pos.npy │ │ ├── 92.vel.npy │ │ ├── 93.pos.npy │ │ ├── 93.vel.npy │ │ ├── 94.pos.npy │ │ ├── 94.vel.npy │ │ ├── 95.pos.npy │ │ ├── 95.vel.npy │ │ ├── 96.pos.npy │ │ ├── 96.vel.npy │ │ ├── 97.pos.npy │ │ ├── 97.vel.npy │ │ ├── 98.pos.npy │ │ ├── 98.vel.npy │ │ ├── 99.pos.npy │ │ └── 99.vel.npy │ └── landing_rl │ │ ├── 0.pos.npy │ │ ├── 0.vel.npy │ │ ├── 1.pos.npy │ │ ├── 1.vel.npy │ │ ├── 10.pos.npy │ │ ├── 10.vel.npy │ │ ├── 100.pos.npy │ │ ├── 100.vel.npy │ │ ├── 101.pos.npy │ │ ├── 101.vel.npy │ │ ├── 102.pos.npy │ │ ├── 102.vel.npy │ │ ├── 103.pos.npy │ │ ├── 103.vel.npy │ │ ├── 104.pos.npy │ │ ├── 104.vel.npy │ │ ├── 105.pos.npy │ │ ├── 105.vel.npy │ │ ├── 106.pos.npy │ │ ├── 106.vel.npy │ │ ├── 107.pos.npy │ │ ├── 107.vel.npy │ │ ├── 108.pos.npy │ │ ├── 108.vel.npy │ │ ├── 109.pos.npy │ │ ├── 109.vel.npy │ │ ├── 11.pos.npy │ │ ├── 11.vel.npy │ │ ├── 110.pos.npy │ │ ├── 110.vel.npy │ │ ├── 111.pos.npy │ │ ├── 111.vel.npy │ │ ├── 112.pos.npy │ │ ├── 112.vel.npy │ │ ├── 113.pos.npy │ │ ├── 113.vel.npy │ │ ├── 114.pos.npy │ │ ├── 114.vel.npy │ │ ├── 115.pos.npy │ │ ├── 115.vel.npy │ │ ├── 116.pos.npy │ │ ├── 116.vel.npy │ │ ├── 117.pos.npy │ │ ├── 117.vel.npy │ │ ├── 118.pos.npy │ │ ├── 118.vel.npy │ │ ├── 119.pos.npy │ │ ├── 119.vel.npy │ │ ├── 12.pos.npy │ │ ├── 12.vel.npy │ │ ├── 120.pos.npy │ │ ├── 120.vel.npy │ │ ├── 121.pos.npy │ │ ├── 121.vel.npy │ │ ├── 122.pos.npy │ │ ├── 122.vel.npy │ │ ├── 123.pos.npy │ │ ├── 123.vel.npy │ │ ├── 124.pos.npy │ │ ├── 124.vel.npy │ │ ├── 125.pos.npy │ │ ├── 125.vel.npy │ │ ├── 126.pos.npy │ │ ├── 126.vel.npy │ │ ├── 127.pos.npy │ │ ├── 127.vel.npy │ │ ├── 128.pos.npy │ │ ├── 128.vel.npy │ │ ├── 129.pos.npy │ │ ├── 129.vel.npy │ │ ├── 13.pos.npy │ │ ├── 13.vel.npy │ │ ├── 130.pos.npy │ │ ├── 130.vel.npy │ │ ├── 131.pos.npy │ │ ├── 131.vel.npy │ │ ├── 132.pos.npy │ │ ├── 132.vel.npy │ │ ├── 133.pos.npy │ │ ├── 133.vel.npy │ │ ├── 134.pos.npy │ │ ├── 134.vel.npy │ │ ├── 135.pos.npy │ │ ├── 135.vel.npy │ │ ├── 136.pos.npy │ │ ├── 136.vel.npy │ │ ├── 137.pos.npy │ │ ├── 137.vel.npy │ │ ├── 138.pos.npy │ │ ├── 138.vel.npy │ │ ├── 139.pos.npy │ │ ├── 139.vel.npy │ │ ├── 14.pos.npy │ │ ├── 14.vel.npy │ │ ├── 140.pos.npy │ │ ├── 140.vel.npy │ │ ├── 141.pos.npy │ │ ├── 141.vel.npy │ │ ├── 142.pos.npy │ │ ├── 142.vel.npy │ │ ├── 143.pos.npy │ │ ├── 143.vel.npy │ │ ├── 144.pos.npy │ │ ├── 144.vel.npy │ │ ├── 145.pos.npy │ │ ├── 145.vel.npy │ │ ├── 146.pos.npy │ │ ├── 146.vel.npy │ │ ├── 147.pos.npy │ │ ├── 147.vel.npy │ │ ├── 148.pos.npy │ │ ├── 148.vel.npy │ │ ├── 149.pos.npy │ │ ├── 149.vel.npy │ │ ├── 15.pos.npy │ │ ├── 15.vel.npy │ │ ├── 150.pos.npy │ │ ├── 150.vel.npy │ │ ├── 151.pos.npy │ │ ├── 151.vel.npy │ │ ├── 152.pos.npy │ │ ├── 152.vel.npy │ │ ├── 153.pos.npy │ │ ├── 153.vel.npy │ │ ├── 154.pos.npy │ │ ├── 154.vel.npy │ │ ├── 155.pos.npy │ │ ├── 155.vel.npy │ │ ├── 156.pos.npy │ │ ├── 156.vel.npy │ │ ├── 157.pos.npy │ │ ├── 157.vel.npy │ │ ├── 158.pos.npy │ │ ├── 158.vel.npy │ │ ├── 159.pos.npy │ │ ├── 159.vel.npy │ │ ├── 16.pos.npy │ │ ├── 16.vel.npy │ │ ├── 160.pos.npy │ │ ├── 160.vel.npy │ │ ├── 161.pos.npy │ │ ├── 161.vel.npy │ │ ├── 162.pos.npy │ │ ├── 162.vel.npy │ │ ├── 163.pos.npy │ │ ├── 163.vel.npy │ │ ├── 164.pos.npy │ │ ├── 164.vel.npy │ │ ├── 165.pos.npy │ │ ├── 165.vel.npy │ │ ├── 166.pos.npy │ │ ├── 166.vel.npy │ │ ├── 167.pos.npy │ │ ├── 167.vel.npy │ │ ├── 168.pos.npy │ │ ├── 168.vel.npy │ │ ├── 169.pos.npy │ │ ├── 169.vel.npy │ │ ├── 17.pos.npy │ │ ├── 17.vel.npy │ │ ├── 170.pos.npy │ │ ├── 170.vel.npy │ │ ├── 171.pos.npy │ │ ├── 171.vel.npy │ │ ├── 172.pos.npy │ │ ├── 172.vel.npy │ │ ├── 173.pos.npy │ │ ├── 173.vel.npy │ │ ├── 174.pos.npy │ │ ├── 174.vel.npy │ │ ├── 175.pos.npy │ │ ├── 175.vel.npy │ │ ├── 176.pos.npy │ │ ├── 176.vel.npy │ │ ├── 177.pos.npy │ │ ├── 177.vel.npy │ │ ├── 178.pos.npy │ │ ├── 178.vel.npy │ │ ├── 179.pos.npy │ │ ├── 179.vel.npy │ │ ├── 18.pos.npy │ │ ├── 18.vel.npy │ │ ├── 180.pos.npy │ │ ├── 180.vel.npy │ │ ├── 181.pos.npy │ │ ├── 181.vel.npy │ │ ├── 182.pos.npy │ │ ├── 182.vel.npy │ │ ├── 183.pos.npy │ │ ├── 183.vel.npy │ │ ├── 184.pos.npy │ │ ├── 184.vel.npy │ │ ├── 185.pos.npy │ │ ├── 185.vel.npy │ │ ├── 186.pos.npy │ │ ├── 186.vel.npy │ │ ├── 187.pos.npy │ │ ├── 187.vel.npy │ │ ├── 188.pos.npy │ │ ├── 188.vel.npy │ │ ├── 189.pos.npy │ │ ├── 189.vel.npy │ │ ├── 19.pos.npy │ │ ├── 19.vel.npy │ │ ├── 190.pos.npy │ │ ├── 190.vel.npy │ │ ├── 191.pos.npy │ │ ├── 191.vel.npy │ │ ├── 192.pos.npy │ │ ├── 192.vel.npy │ │ ├── 193.pos.npy │ │ ├── 193.vel.npy │ │ ├── 194.pos.npy │ │ ├── 194.vel.npy │ │ ├── 195.pos.npy │ │ ├── 195.vel.npy │ │ ├── 196.pos.npy │ │ ├── 196.vel.npy │ │ ├── 197.pos.npy │ │ ├── 197.vel.npy │ │ ├── 198.pos.npy │ │ ├── 198.vel.npy │ │ ├── 199.pos.npy │ │ ├── 199.vel.npy │ │ ├── 2.pos.npy │ │ ├── 2.vel.npy │ │ ├── 20.pos.npy │ │ ├── 20.vel.npy │ │ ├── 200.pos.npy │ │ ├── 200.vel.npy │ │ ├── 201.pos.npy │ │ ├── 201.vel.npy │ │ ├── 202.pos.npy │ │ ├── 202.vel.npy │ │ ├── 203.pos.npy │ │ ├── 203.vel.npy │ │ ├── 204.pos.npy │ │ ├── 204.vel.npy │ │ ├── 205.pos.npy │ │ ├── 205.vel.npy │ │ ├── 206.pos.npy │ │ ├── 206.vel.npy │ │ ├── 207.pos.npy │ │ ├── 207.vel.npy │ │ ├── 208.pos.npy │ │ ├── 208.vel.npy │ │ ├── 209.pos.npy │ │ ├── 209.vel.npy │ │ ├── 21.pos.npy │ │ ├── 21.vel.npy │ │ ├── 210.pos.npy │ │ ├── 210.vel.npy │ │ ├── 211.pos.npy │ │ ├── 211.vel.npy │ │ ├── 212.pos.npy │ │ ├── 212.vel.npy │ │ ├── 213.pos.npy │ │ ├── 213.vel.npy │ │ ├── 214.pos.npy │ │ ├── 214.vel.npy │ │ ├── 215.pos.npy │ │ ├── 215.vel.npy │ │ ├── 216.pos.npy │ │ ├── 216.vel.npy │ │ ├── 217.pos.npy │ │ ├── 217.vel.npy │ │ ├── 218.pos.npy │ │ ├── 218.vel.npy │ │ ├── 219.pos.npy │ │ ├── 219.vel.npy │ │ ├── 22.pos.npy │ │ ├── 22.vel.npy │ │ ├── 220.pos.npy │ │ ├── 220.vel.npy │ │ ├── 221.pos.npy │ │ ├── 221.vel.npy │ │ ├── 222.pos.npy │ │ ├── 222.vel.npy │ │ ├── 223.pos.npy │ │ ├── 223.vel.npy │ │ ├── 224.pos.npy │ │ ├── 224.vel.npy │ │ ├── 225.pos.npy │ │ ├── 225.vel.npy │ │ ├── 226.pos.npy │ │ ├── 226.vel.npy │ │ ├── 227.pos.npy │ │ ├── 227.vel.npy │ │ ├── 228.pos.npy │ │ ├── 228.vel.npy │ │ ├── 229.pos.npy │ │ ├── 229.vel.npy │ │ ├── 23.pos.npy │ │ ├── 23.vel.npy │ │ ├── 230.pos.npy │ │ ├── 230.vel.npy │ │ ├── 24.pos.npy │ │ ├── 24.vel.npy │ │ ├── 25.pos.npy │ │ ├── 25.vel.npy │ │ ├── 26.pos.npy │ │ ├── 26.vel.npy │ │ ├── 27.pos.npy │ │ ├── 27.vel.npy │ │ ├── 28.pos.npy │ │ ├── 28.vel.npy │ │ ├── 29.pos.npy │ │ ├── 29.vel.npy │ │ ├── 3.pos.npy │ │ ├── 3.vel.npy │ │ ├── 30.pos.npy │ │ ├── 30.vel.npy │ │ ├── 31.pos.npy │ │ ├── 31.vel.npy │ │ ├── 32.pos.npy │ │ ├── 32.vel.npy │ │ ├── 33.pos.npy │ │ ├── 33.vel.npy │ │ ├── 34.pos.npy │ │ ├── 34.vel.npy │ │ ├── 35.pos.npy │ │ ├── 35.vel.npy │ │ ├── 36.pos.npy │ │ ├── 36.vel.npy │ │ ├── 37.pos.npy │ │ ├── 37.vel.npy │ │ ├── 38.pos.npy │ │ ├── 38.vel.npy │ │ ├── 39.pos.npy │ │ ├── 39.vel.npy │ │ ├── 4.pos.npy │ │ ├── 4.vel.npy │ │ ├── 40.pos.npy │ │ ├── 40.vel.npy │ │ ├── 41.pos.npy │ │ ├── 41.vel.npy │ │ ├── 42.pos.npy │ │ ├── 42.vel.npy │ │ ├── 43.pos.npy │ │ ├── 43.vel.npy │ │ ├── 44.pos.npy │ │ ├── 44.vel.npy │ │ ├── 45.pos.npy │ │ ├── 45.vel.npy │ │ ├── 46.pos.npy │ │ ├── 46.vel.npy │ │ ├── 47.pos.npy │ │ ├── 47.vel.npy │ │ ├── 48.pos.npy │ │ ├── 48.vel.npy │ │ ├── 49.pos.npy │ │ ├── 49.vel.npy │ │ ├── 5.pos.npy │ │ ├── 5.vel.npy │ │ ├── 50.pos.npy │ │ ├── 50.vel.npy │ │ ├── 51.pos.npy │ │ ├── 51.vel.npy │ │ ├── 52.pos.npy │ │ ├── 52.vel.npy │ │ ├── 53.pos.npy │ │ ├── 53.vel.npy │ │ ├── 54.pos.npy │ │ ├── 54.vel.npy │ │ ├── 55.pos.npy │ │ ├── 55.vel.npy │ │ ├── 56.pos.npy │ │ ├── 56.vel.npy │ │ ├── 57.pos.npy │ │ ├── 57.vel.npy │ │ ├── 58.pos.npy │ │ ├── 58.vel.npy │ │ ├── 59.pos.npy │ │ ├── 59.vel.npy │ │ ├── 6.pos.npy │ │ ├── 6.vel.npy │ │ ├── 60.pos.npy │ │ ├── 60.vel.npy │ │ ├── 61.pos.npy │ │ ├── 61.vel.npy │ │ ├── 62.pos.npy │ │ ├── 62.vel.npy │ │ ├── 63.pos.npy │ │ ├── 63.vel.npy │ │ ├── 64.pos.npy │ │ ├── 64.vel.npy │ │ ├── 65.pos.npy │ │ ├── 65.vel.npy │ │ ├── 66.pos.npy │ │ ├── 66.vel.npy │ │ ├── 67.pos.npy │ │ ├── 67.vel.npy │ │ ├── 68.pos.npy │ │ ├── 68.vel.npy │ │ ├── 69.pos.npy │ │ ├── 69.vel.npy │ │ ├── 7.pos.npy │ │ ├── 7.vel.npy │ │ ├── 70.pos.npy │ │ ├── 70.vel.npy │ │ ├── 71.pos.npy │ │ ├── 71.vel.npy │ │ ├── 72.pos.npy │ │ ├── 72.vel.npy │ │ ├── 73.pos.npy │ │ ├── 73.vel.npy │ │ ├── 74.pos.npy │ │ ├── 74.vel.npy │ │ ├── 75.pos.npy │ │ ├── 75.vel.npy │ │ ├── 76.pos.npy │ │ ├── 76.vel.npy │ │ ├── 77.pos.npy │ │ ├── 77.vel.npy │ │ ├── 78.pos.npy │ │ ├── 78.vel.npy │ │ ├── 79.pos.npy │ │ ├── 79.vel.npy │ │ ├── 8.pos.npy │ │ ├── 8.vel.npy │ │ ├── 80.pos.npy │ │ ├── 80.vel.npy │ │ ├── 81.pos.npy │ │ ├── 81.vel.npy │ │ ├── 82.pos.npy │ │ ├── 82.vel.npy │ │ ├── 83.pos.npy │ │ ├── 83.vel.npy │ │ ├── 84.pos.npy │ │ ├── 84.vel.npy │ │ ├── 85.pos.npy │ │ ├── 85.vel.npy │ │ ├── 86.pos.npy │ │ ├── 86.vel.npy │ │ ├── 87.pos.npy │ │ ├── 87.vel.npy │ │ ├── 88.pos.npy │ │ ├── 88.vel.npy │ │ ├── 89.pos.npy │ │ ├── 89.vel.npy │ │ ├── 9.pos.npy │ │ ├── 9.vel.npy │ │ ├── 90.pos.npy │ │ ├── 90.vel.npy │ │ ├── 91.pos.npy │ │ ├── 91.vel.npy │ │ ├── 92.pos.npy │ │ ├── 92.vel.npy │ │ ├── 93.pos.npy │ │ ├── 93.vel.npy │ │ ├── 94.pos.npy │ │ ├── 94.vel.npy │ │ ├── 95.pos.npy │ │ ├── 95.vel.npy │ │ ├── 96.pos.npy │ │ ├── 96.vel.npy │ │ ├── 97.pos.npy │ │ ├── 97.vel.npy │ │ ├── 98.pos.npy │ │ ├── 98.vel.npy │ │ ├── 99.pos.npy │ │ └── 99.vel.npy │ ├── utils │ ├── __init__.py │ ├── plotting.py │ ├── us_cmap.py │ └── vis_discr_traj.py │ ├── vis_res.py │ └── vis_rnd_gen.py ├── tests ├── __init__.py ├── test_build.py ├── test_examples.py └── test_trajectories.py └── trajectories ├── __init__.py ├── discretized_trajectory.py ├── polynomial_discretized_trajectory.py ├── random_trajectories.py ├── square_linear_trajectory.py ├── traj_gen_cpp_wrapper.py ├── trajectory.py ├── trajectory_factory.py └── waypoint.py /.github/workflows/push.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/danielbinschmid/RL-pybullets-cf/HEAD/.github/workflows/push.yml -------------------------------------------------------------------------------- /.github/workflows/release.yml: -------------------------------------------------------------------------------- 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