├── .dockerignore ├── .github └── ISSUE_TEMPLATE │ ├── advice-request.md │ ├── bug_report.md │ └── feature-request-.md ├── .gitignore ├── .travis.yml ├── Dockerfile ├── Dockerfile.old ├── INSTALL.md ├── LICENSE ├── LICENSE.md ├── Makefile ├── README.md ├── bin └── render.py ├── entrypoint.sh ├── examples ├── ARIAC │ └── ariac_pick_v0_random.py ├── MARA │ ├── gazebo_mara_side_3dof_random.py │ └── gazebo_mara_top_3dof_random.py ├── erlecopter │ ├── erlecopter_hover_qlearn.py │ └── qlearn.py ├── erlerover │ ├── maze_erlerover_lidar_qlearn.py │ └── qlearn.py ├── gazebo_cartpole │ ├── gazebo_cartpole_random.py │ ├── gazebo_cartpole_v1.py │ └── gazebo_cartpole_v2.py ├── modular_scara │ ├── modular_scara_3dof_acktr.py │ ├── modular_scara_3dof_obstacles_random.py │ ├── modular_scara_3dof_ppo.py │ ├── modular_scara_3dof_qlearn.py │ ├── modular_scara_3dof_random.py │ ├── modular_scara_3dof_trpo.py │ ├── qlearn.py │ └── tensorboard_logging.py ├── scripts │ └── benchmark_runner ├── turtlebot │ ├── circuit2_turtlebot_lidar_dqn.py │ ├── circuit2_turtlebot_lidar_qlearn.py │ ├── circuit2_turtlebot_lidar_sarsa.py │ ├── circuit2c_turtlebot_camera_dqn.py │ ├── circuit_turtlebot_lidar_qlearn.py │ ├── deepq.py │ ├── liveplot.py │ ├── maze_turtlebot_lidar_qlearn.py │ ├── memory.py │ ├── qlearn.py │ ├── round_turtlebot_lidar_test.py │ ├── runtraining_dqn_circuit2_turtlebot_lidar.py │ └── sarsa.py └── utilities │ ├── averaged_table.py │ ├── camera_visualizer.py │ └── display_plot.py ├── gym_gazebo ├── __init__.py ├── envs │ ├── ARIAC │ │ ├── __init__.py │ │ └── ariac_pick_v0.py │ ├── MARA │ │ ├── __init__.py │ │ ├── gazebo_mara_no_gripper_v0.py │ │ ├── gazebo_mara_side_3dof_v0.py │ │ ├── gazebo_mara_top_3dof_v0.py │ │ ├── gazebo_mara_top_collision_v0.py │ │ ├── gazebo_mara_top_orient_collision_v0.py │ │ ├── gazebo_mara_top_orient_collision_v0_aux.py │ │ ├── gazebo_mara_top_orient_v0.py │ │ ├── gazebo_mara_top_orient_vision_collision_v0.py │ │ ├── gazebo_mara_top_orient_vision_v0.py │ │ ├── real_mara_top_3dof_ros2_v0.py │ │ └── real_mara_top_3dof_v0.py │ ├── __init__.py │ ├── articulated_arm │ │ ├── __init__.py │ │ └── gazebo_modular_articulated_arm_4dof_v1.py │ ├── assets │ │ ├── conventions.md │ │ ├── launch │ │ │ ├── ARIACPick_v0.launch │ │ │ ├── Box_Vision_v0.launch │ │ │ ├── GazeboCartPole_v0.launch │ │ │ ├── GazeboCircuit2TurtlebotLidar_v0.launch │ │ │ ├── GazeboCircuit2cTurtlebotLidar_v0.launch │ │ │ ├── GazeboCircuitTurtlebotLidar_v0.launch │ │ │ ├── GazeboErleCopterHover-v0.launch │ │ │ ├── GazeboMazeErleRoverLidar_v0.launch │ │ │ ├── GazeboMazeTurtlebotLidar_v0.launch │ │ │ ├── GazeboRoundTurtlebotLidar_v0.launch │ │ │ ├── MARANoGripper_v0.launch │ │ │ ├── MARASide3DOF_v0.launch │ │ │ ├── MARATop3DOF_v0.launch │ │ │ ├── MARATop6DOF_Collision_v0.launch │ │ │ ├── MARATop6DOF_Collision_v0_aux.launch │ │ │ ├── ModularArticulatedArm4DoF_v1.launch │ │ │ ├── ModularScara3_Obstacles_urdf_simplified_v0.launch │ │ │ ├── ModularScara3_Obstacles_v0.launch │ │ │ ├── ModularScara3_Vision_v0.launch │ │ │ ├── ModularScara3_Vision_v1.launch │ │ │ ├── ModularScara3_v0.launch │ │ │ ├── ModularScara4_3_v0.launch │ │ │ └── ModularScara4_v0.launch │ │ ├── meshes │ │ │ └── lidar_lite_v2_withRay.dae │ │ ├── models │ │ │ ├── Circuit_ql_1 │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── Circuit_ql_2 │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── Circuit_ql_2c │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── Maze_ql_1 │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ ├── Round_ql_1 │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ │ └── Target │ │ │ │ ├── model.config │ │ │ │ └── model.sdf │ │ ├── params │ │ │ ├── Erle-Copter.param │ │ │ └── Erle-Rover.param │ │ ├── urdf │ │ │ ├── articulated_arm │ │ │ │ ├── articulated_arm_model.urdf │ │ │ │ └── articulated_arm_model_nogripper.urdf │ │ │ ├── erlecopter │ │ │ │ └── erlecopter.xacro │ │ │ ├── erlerover │ │ │ │ └── rover.urdf │ │ │ ├── kobuki_cnn_urdf │ │ │ │ ├── kobuki_urdf │ │ │ │ │ └── urdf │ │ │ │ │ │ ├── common_properties.urdf.xacro │ │ │ │ │ │ ├── kobuki.urdf.xacro │ │ │ │ │ │ ├── kobuki_gazebo.urdf.xacro │ │ │ │ │ │ ├── kobuki_standalone.urdf.xacro │ │ │ │ │ │ └── sensors │ │ │ │ │ │ └── lidar_sensor.urdf.xacro │ │ │ │ └── turtlebot_urdf │ │ │ │ │ └── urdf │ │ │ │ │ ├── common_properties.urdf.xacro │ │ │ │ │ ├── sensors │ │ │ │ │ ├── astra.urdf.xacro │ │ │ │ │ ├── asus_xtion_pro.urdf.xacro │ │ │ │ │ ├── asus_xtion_pro_offset.urdf.xacro │ │ │ │ │ ├── kinect.urdf.xacro │ │ │ │ │ └── r200.urdf.xacro │ │ │ │ │ ├── stacks │ │ │ │ │ ├── circles.urdf.xacro │ │ │ │ │ └── hexagons.urdf.xacro │ │ │ │ │ ├── turtlebot_gazebo.urdf.xacro │ │ │ │ │ ├── turtlebot_library.urdf.xacro │ │ │ │ │ └── turtlebot_properties.urdf.xacro │ │ │ ├── kobuki_nn_urdf │ │ │ │ └── urdf │ │ │ │ │ ├── common_properties.urdf.xacro │ │ │ │ │ ├── kobuki.urdf.xacro │ │ │ │ │ ├── kobuki_gazebo.urdf.xacro │ │ │ │ │ ├── kobuki_standalone.urdf.xacro │ │ │ │ │ └── sensors │ │ │ │ │ └── lidar_sensor.urdf.xacro │ │ │ ├── kobuki_urdf │ │ │ │ └── urdf │ │ │ │ │ ├── common_properties.urdf.xacro │ │ │ │ │ ├── kobuki.urdf.xacro │ │ │ │ │ ├── kobuki_gazebo.urdf.xacro │ │ │ │ │ ├── kobuki_standalone.urdf.xacro │ │ │ │ │ └── sensors │ │ │ │ │ └── lidar_sensor.urdf.xacro │ │ │ └── modular_scara │ │ │ │ ├── box_vision_camera_behind.urdf.xacro │ │ │ │ ├── box_vision_camera_side.urdf.xacro │ │ │ │ ├── scara_e1_3joints.urdf │ │ │ │ ├── scara_e1_4joints.urdf │ │ │ │ ├── scara_e1_model_3joints.urdf.xacro │ │ │ │ ├── scara_e1_model_4_and_3joints.urdf │ │ │ │ ├── scara_e1_model_4_and_3joints.urdf.xacro │ │ │ │ └── scara_e1_model_4joints.urdf.xacro │ │ └── worlds │ │ │ ├── articulated_basic.world │ │ │ ├── circle.world │ │ │ ├── circuit.world │ │ │ ├── circuit2.world │ │ │ ├── circuit2c.world │ │ │ ├── empty.world │ │ │ ├── maze.world │ │ │ ├── new_articulated_basic.world │ │ │ ├── round.world │ │ │ ├── scara_basic.world │ │ │ └── scara_basic_obst.world │ ├── erlecopter │ │ ├── __init__.py │ │ └── gazebo_erlecopter_hover.py │ ├── erlerover │ │ ├── __init__.py │ │ └── gazebo_maze_erlerover_lidar.py │ ├── gazebo_cartpole │ │ ├── __init__.py │ │ └── gazebo_cartpole_v0.py │ ├── gazebo_env.py │ ├── installation │ │ ├── erlecopter_setup.bash │ │ ├── erlerover_setup.bash │ │ ├── gazebo.repos │ │ ├── gazebo.repos.old │ │ ├── gazebo_ros_melodic.repos │ │ ├── scara_setup.bash │ │ ├── setup_indigo.bash │ │ ├── setup_kinetic.bash │ │ ├── setup_melodic.bash │ │ ├── turtlebot_cnn_setup.bash │ │ ├── turtlebot_nn_setup.bash │ │ └── turtlebot_setup.bash │ ├── modular_scara │ │ ├── __init__.py │ │ ├── box_vision_v1.py │ │ ├── gazebo_modular_scara_3dof.py │ │ ├── gazebo_modular_scara_3dof_obstacles_v0.py │ │ ├── gazebo_modular_scara_3dof_static_obstacle_v0.py │ │ ├── gazebo_modular_scara_3dof_static_obstacle_v1.py │ │ ├── gazebo_modular_scara_3dof_v1.py │ │ ├── gazebo_modular_scara_3dof_v2.py │ │ ├── gazebo_modular_scara_3dof_v3.py │ │ ├── gazebo_modular_scara_3dof_v4.py │ │ ├── gazebo_modular_scara_3dof_vision_v1.py │ │ ├── gazebo_modular_scara_3dof_vision_v2.py │ │ ├── gazebo_modular_scara_4_and_3_v1.py │ │ ├── gazebo_modular_scara_4dof_v2.py │ │ ├── gazebo_modular_scara_4dof_v3.py │ │ └── real_modular_scara_3dof_v0.py │ ├── real_env.py │ ├── real_env_ros2.py │ ├── turtlebot │ │ ├── __init__.py │ │ ├── gazebo_circuit2_turtlebot_lidar.py │ │ ├── gazebo_circuit2_turtlebot_lidar_nn.py │ │ ├── gazebo_circuit2c_turtlebot_camera_nn.py │ │ ├── gazebo_circuit_turtlebot_lidar.py │ │ ├── gazebo_maze_turtlebot_lidar.py │ │ └── gazebo_round_turtlebot_lidar.py │ └── unittest │ │ ├── __init__.py │ │ ├── cube_crash.py │ │ └── memorize_digits.py ├── logger.py ├── spaces │ ├── dict_space.py │ ├── multi_binary.py │ └── multi_discrete.py ├── tests │ └── spec_list.py ├── utils │ ├── __init__.py │ ├── atomic_write.py │ ├── closer.py │ ├── colorize.py │ ├── ezpickle.py │ ├── json_utils.py │ ├── play.py │ ├── reraise.py │ ├── reraise_impl_py2.py │ ├── reraise_impl_py3.py │ ├── ros_utils.py │ ├── seeding.py │ ├── tests │ │ ├── test_atexit.py │ │ └── test_seeding.py │ └── utils.py ├── version.py └── wrappers │ ├── README.md │ ├── __init__.py │ ├── dict.py │ ├── monitor.py │ ├── monitoring │ ├── __init__.py │ ├── stats_recorder.py │ ├── tests │ │ ├── __init__.py │ │ ├── helpers.py │ │ └── test_video_recorder.py │ └── video_recorder.py │ ├── tests │ └── __init__.py │ └── time_limit.py ├── imgs ├── GazeboCircuit2TurtlebotLidar-v0.png ├── GazeboCircuitTurtlebotLidar-v0.png ├── GazeboModularArticulatedArm4DOF-v1.jpg ├── GazeboModularScara3DOF-v0.png ├── GazeboModularScara3DOF-v1.png ├── GazeboModularScara3DOF-v2.png ├── GazeboModularScara3DOF-v3.png ├── GazeboModularScara4DOF-v3.png ├── ariac_pick.jpg └── cartpole.jpg ├── requirements.txt ├── requirements_dev.txt ├── setup.py ├── test.dockerfile.14.04 ├── test.dockerfile.16.04 ├── test.dockerfile.18.04 ├── tox.ini ├── unittest.cfg └── vendor └── Xdummy /.dockerignore: 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