├── LICENCE ├── README.md ├── __pycache__ ├── robot_env.cpython-38.pyc ├── rotations.cpython-38.pyc └── utils.cpython-38.pyc ├── gym_xarm6.egg-info ├── PKG-INFO ├── SOURCES.txt ├── dependency_links.txt ├── requires.txt └── top_level.txt ├── gym_xarm6 ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── __init__.cpython-39.pyc │ └── xarm6_env.cpython-38.pyc ├── data │ ├── __pycache__ │ │ ├── dhm.cpython-39.pyc │ │ └── libdhm.cpython-39.pyc │ ├── dhm.py │ └── libdhm.py └── envs │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── __init__.cpython-39.pyc │ ├── pick_and_place.cpython-38.pyc │ ├── reach.cpython-38.pyc │ ├── reach.cpython-39.pyc │ ├── robot_env.cpython-39.pyc │ ├── rotations.cpython-39.pyc │ ├── utils.cpython-39.pyc │ └── xarm6_env.cpython-39.pyc │ ├── assets │ ├── LICENCE │ ├── gripper.xml │ ├── pick_and_place.xml │ ├── reach.xml │ ├── shared.xml │ ├── stls │ │ ├── J1.stl │ │ ├── J2.stl │ │ ├── J3.stl │ │ ├── J4.stl │ │ ├── J5.stl │ │ ├── J6.stl │ │ ├── Tool.stl │ │ └── gripper │ │ │ └── meshes │ │ │ ├── base_link.STL │ │ │ ├── left_finger.STL │ │ │ ├── left_inner_knuckle.STL │ │ │ ├── left_outer_knuckle.STL │ │ │ ├── right_finger.STL │ │ │ ├── right_inner_knuckle.STL │ │ │ └── right_outer_knuckle.STL │ └── xarm6.xml │ ├── pick_and_place.py │ ├── reach.py │ ├── robot_env.py │ ├── rotations.py │ ├── test.py.backup │ ├── utils.py │ └── xarm6_env.py ├── her ├── .gitignore ├── LICENSE ├── README.md ├── arguments.py ├── demo.py ├── figures │ ├── pick.gif │ ├── push.gif │ ├── reach.gif │ ├── results.png │ └── slide.gif ├── her_modules │ ├── __init__.py │ └── her.py ├── mpi_utils │ ├── __init__.py │ ├── mpi_utils.py │ └── normalizer.py ├── rl_modules │ ├── __init__.py │ ├── ddpg_agent.py │ ├── models.py │ └── replay_buffer.py └── train.py ├── pybullet_env ├── xarm │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-39.pyc │ │ ├── loadxarm_sim.cpython-39.pyc │ │ ├── xarm.cpython-39.pyc │ │ └── xarm_sim.cpython-39.pyc │ 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