├── README.md ├── dher ├── dher │ ├── __init__.py │ ├── ddpg_dher │ │ ├── __init__.py │ │ ├── dher_config.py │ │ ├── dher_ddpg.py │ │ ├── dher_replay_buffer.py │ │ ├── dher_rollout.py │ │ ├── dher_sample.py │ │ └── experiment │ │ │ └── train_dyreach.py │ └── dqn_dher │ │ ├── __init__.py │ │ ├── dher_deepq.py │ │ ├── dher_replay_buffer.py │ │ ├── dher_sample.py │ │ └── experiment │ │ └── train_dysnake.py └── setup.py ├── dygym ├── dygym │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── robotics │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── LICENSE.md │ │ │ │ ├── fetch │ │ │ │ │ ├── push.xml │ │ │ │ │ ├── reach.xml │ │ │ │ │ ├── robot.xml │ │ │ │ │ └── shared.xml │ │ │ │ ├── stls │ │ │ │ │ └── fetch │ │ │ │ │ │ ├── base_link_collision.stl │ │ │ │ │ │ ├── bellows_link_collision.stl │ │ │ │ │ │ ├── elbow_flex_link_collision.stl │ │ │ │ │ │ ├── estop_link.stl │ │ │ │ │ │ ├── forearm_roll_link_collision.stl │ │ │ │ │ │ ├── gripper_link.stl │ │ │ │ │ │ ├── head_pan_link_collision.stl │ │ │ │ │ │ ├── head_tilt_link_collision.stl │ │ │ │ │ │ ├── l_wheel_link_collision.stl │ │ │ │ │ │ ├── laser_link.stl │ │ │ │ │ │ ├── r_wheel_link_collision.stl │ │ │ │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ │ │ │ ├── torso_fixed_link.stl │ │ │ │ │ │ ├── torso_lift_link_collision.stl │ │ │ │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ │ │ │ ├── wrist_flex_link_collision.stl │ │ │ │ │ │ └── wrist_roll_link_collision.stl │ │ │ │ └── textures │ │ │ │ │ ├── block.png │ │ │ │ │ └── block_hidden.png │ │ │ ├── circle.py │ │ │ ├── fetch_circle_env.py │ │ │ ├── fetch_env.py │ │ │ ├── push.py │ │ │ ├── reach.py │ │ │ ├── robot_env.py │ │ │ ├── rotations.py │ │ │ └── utils.py │ │ └── snake │ │ │ ├── __init__.py │ │ │ ├── snake.py │ │ │ └── snake_model.py │ └── test │ │ ├── test_dycircle.py │ │ ├── test_dypush.py │ │ ├── test_dyreach.py │ │ └── test_dysnake.py └── setup.py └── resource ├── fig-framework.jpeg 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