├── .gitignore ├── LICENSE ├── README.md ├── img └── peg-in-hole.gif ├── peg_in_hole_gym ├── __init__.py └── envs │ ├── assets │ ├── meshes │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.obj │ │ │ ├── forearm.obj │ │ │ ├── l_gripper_tip_scaled.stl │ │ │ ├── shoulder.obj │ │ │ ├── upperarm.obj │ │ │ ├── wrist1.obj │ │ │ ├── wrist2.obj │ │ │ └── wrist3.obj │ ├── obj │ │ ├── Amicelli_800_tex.obj │ │ ├── banana.mtl │ │ ├── banana.obj │ │ ├── banana.png │ │ ├── banana_collision.obj │ │ ├── cylinder_3_1_1.obj │ │ └── cylinder_base.obj │ └── urdf │ │ ├── Amicelli_800_tex.urdf │ │ ├── banana.urdf │ │ ├── charge_board.urdf │ │ ├── hole.urdf │ │ ├── pipe.urdf │ │ └── ur5.urdf │ ├── base_env.py │ ├── base_env_mp.py │ ├── meta_env.py │ ├── peg_in_hole.py │ └── utils.py ├── requirements.txt └── setup.py /.gitignore: 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