├── .gitignore ├── LICENSE ├── README.md ├── envs └── Bullet-Safety-Gym │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── bullet_safety_gym │ ├── __init__.py │ └── envs │ │ ├── __init__.py │ │ ├── agents.py │ │ ├── bases.py │ │ ├── builder.py │ │ ├── data │ │ ├── obstacles │ │ │ ├── apple.urdf │ │ │ ├── bomb.urdf │ │ │ ├── box.urdf │ │ │ ├── checker_huge.gif │ │ │ ├── circle_zone.urdf │ │ │ ├── goal_zone.urdf │ │ │ ├── line_boundary.urdf │ │ │ ├── octagon_wall.urdf │ │ │ ├── orb.urdf │ │ │ ├── pillar.urdf │ │ │ ├── puck.STL │ │ │ ├── puck.mtl │ │ │ ├── puck.obj │ │ │ ├── puck.urdf │ │ │ ├── puddle.urdf │ │ │ ├── room_20x20.urdf │ │ │ ├── room_30x30.urdf │ │ │ ├── room_40x40.urdf │ │ │ ├── sphere.urdf │ │ │ ├── sphere2.urdf │ │ │ ├── textured_sphere_smooth.mtl │ │ │ └── textured_sphere_smooth.obj │ │ ├── plane │ │ │ ├── checker_blue.png │ │ │ ├── plane.mtl │ │ │ ├── plane10.obj │ │ │ ├── plane10.urdf │ │ │ ├── plane100.obj │ │ │ ├── plane100.urdf │ │ │ ├── plane15.obj │ │ │ ├── plane15.urdf │ │ │ ├── plane20.obj │ │ │ ├── plane20.urdf │ │ │ ├── plane250.obj │ │ │ ├── plane250.urdf │ │ │ ├── plane_default.sdf │ │ │ └── simple_plane.urdf │ │ └── robots │ │ │ ├── ball │ │ │ ├── ball.urdf │ │ │ ├── checker_huge.gif │ │ │ ├── textured_sphere_smooth.mtl │ │ │ └── textured_sphere_smooth.obj │ │ │ ├── mujoco │ │ │ ├── ant.xml │ │ │ ├── half_cheetah.xml │ │ │ ├── hopper.xml │ │ │ ├── humanoid.xml │ │ │ ├── humanoid_fixed.xml │ │ │ ├── humanoid_symmetric.xml │ │ │ ├── humanoid_symmetric_no_ground.xml │ │ │ └── walker2d.xml │ │ │ ├── quadcopter │ │ │ ├── meshes │ │ │ │ ├── asus_camera_simple.dae │ │ │ │ ├── camera.dae │ │ │ │ ├── hummingbird.dae │ │ │ │ ├── iris.dae │ │ │ │ ├── iris_prop_ccw.dae │ │ │ │ ├── iris_prop_cw.dae │ │ │ │ ├── kinect.dae │ │ │ │ ├── kinect.tga │ │ │ │ ├── kinect_camera_simple.dae │ │ │ │ ├── kinect_camera_simple.stl │ │ │ │ ├── max_sonar_ez4.dae │ │ │ │ ├── propeller_ccw.dae │ │ │ │ ├── propeller_cw.dae │ │ │ │ ├── robotparts.png │ │ │ │ ├── thermaleye_camera_hector_v1.dae │ │ │ │ └── thermaleye_camera_hector_v2.dae │ │ │ └── quadcopter.urdf │ │ │ └── racecar │ │ │ ├── differential │ │ │ ├── diff_arm.stl │ │ │ ├── diff_carrier.stl │ │ │ ├── diff_carrier_cover.stl │ │ │ ├── diff_leftshaft.stl │ │ │ ├── diff_motor_cover.stl │ │ │ ├── diff_pinion.stl │ │ │ ├── diff_rightshaft.stl │ │ │ ├── diff_ring.stl │ │ │ ├── diff_ring.urdf │ │ │ ├── diff_side.stl │ │ │ ├── diff_spider.stl │ │ │ ├── diff_spider_shaft.stl │ │ │ ├── diff_stand.stl │ │ │ └── modelorigin.txt │ │ │ ├── meshes │ │ │ ├── chassis.STL │ │ │ ├── chassis.dae │ │ │ ├── chassis_differential.STL │ │ │ ├── checker_blue.png │ │ │ ├── cone.dae │ │ │ ├── cone.mtl │ │ │ ├── cone.obj │ │ │ ├── hokuyo.dae │ │ │ ├── hokuyo.mtl │ │ │ ├── hokuyo.obj │ │ │ ├── left_front_wheel.STL │ │ │ ├── left_front_wheel.dae │ │ │ ├── left_front_wheel.mtl │ │ │ ├── left_front_wheel.obj │ │ │ ├── left_rear_wheel.STL │ │ │ ├── left_rear_wheel.dae │ │ │ ├── left_rear_wheel.mtl │ │ │ ├── left_rear_wheel.obj │ │ │ ├── left_steering_hinge.STL │ │ │ ├── left_steering_hinge.dae │ │ │ ├── parking_1.dae │ │ │ ├── right_front_wheel.STL │ │ │ ├── right_front_wheel.dae │ │ │ ├── right_front_wheel.mtl │ │ │ ├── right_front_wheel.obj │ │ │ ├── right_rear_wheel.STL │ │ │ ├── right_rear_wheel.dae │ │ │ ├── right_rear_wheel.mtl │ │ │ ├── right_rear_wheel.obj │ │ │ ├── right_steering_hinge.STL │ │ │ ├── right_steering_hinge.dae │ │ │ ├── walker_racecourse.dae │ │ │ └── wheel.jpg │ │ │ └── racecar_differential.urdf │ │ ├── env_utils.py │ │ ├── obstacles.py │ │ ├── sensors.py │ │ ├── tasks.py │ │ └── worlds.py │ ├── docs │ ├── agents.md │ ├── benchmark.md │ ├── figures │ │ ├── agent_ant.png │ │ ├── agent_ball.png │ │ ├── agent_car.png │ │ ├── agent_drone.png │ │ ├── benchmarks │ │ │ ├── exp_SafetyAntCircle.png │ │ │ ├── exp_SafetyAntGather.png │ │ │ ├── exp_SafetyAntReach.png │ │ │ ├── exp_SafetyAntRun.png │ │ │ ├── exp_SafetyBallCircle.png │ │ │ ├── exp_SafetyBallGather.png │ │ │ ├── exp_SafetyBallReach.png │ │ │ ├── exp_SafetyBallRun.png │ │ │ ├── exp_SafetyCarCircle.png │ │ │ ├── exp_SafetyCarGather.png │ │ │ ├── exp_SafetyCarReach.png │ │ │ ├── exp_SafetyCarRun.png │ │ │ ├── exp_SafetyDroneCircle.png │ │ │ ├── exp_SafetyDroneGather.png │ │ │ ├── exp_SafetyDroneReach.png │ │ │ └── exp_SafetyDroneRun.png │ │ ├── task_circle.png │ │ ├── task_gather.png │ │ ├── task_reach.png │ │ └── task_run.png │ └── tasks.md │ ├── setup.py │ └── tests │ ├── test_agents.py │ └── test_envs.py ├── requirement.txt ├── rsrl ├── __init__.py ├── evaluator.py ├── policy │ ├── __init__.py │ ├── adversary │ │ ├── __init__.py │ │ ├── adv_amad.py │ │ ├── adv_base.py │ │ ├── adv_critic.py │ │ ├── adv_mad.py │ │ ├── adv_manager.py │ │ └── adv_random.py │ ├── buffer.py │ ├── model │ │ ├── __init__.py │ │ └── mlp_ac.py │ ├── onpolicy_base.py │ ├── pid_controller.py │ ├── robust_focops.py │ └── robust_ppo.py ├── runner.py └── util │ ├── __init__.py │ ├── logger.py │ ├── run_util.py │ ├── test │ 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