├── README.md ├── assets ├── cameras.xml ├── kinova_j2s6s300 │ ├── arm.STL │ ├── arm_half_1.STL │ ├── arm_half_2.STL │ ├── arm_mico.STL │ ├── base.STL │ ├── convert_me_to_mj.urdf │ ├── finger_distal.STL │ ├── finger_proximal.STL │ ├── forearm.STL │ ├── forearm_mico.STL │ ├── hand_2finger.STL │ ├── hand_3finger.STL │ ├── meshes │ │ ├── arm.SLDPRT │ │ ├── arm.STL │ │ ├── arm.dae │ │ ├── arm_half_1.STL │ │ ├── arm_half_1.dae │ │ ├── arm_half_2.STL │ │ ├── arm_half_2.dae │ │ ├── arm_mico.STL │ │ ├── arm_mico.dae │ │ ├── base.STL │ │ ├── base.dae │ │ ├── finger_distal.STL │ │ ├── finger_distal.dae │ │ ├── finger_proximal.STL │ │ ├── finger_proximal.dae │ │ ├── forearm.STL │ │ ├── forearm.dae │ │ ├── forearm_mico.STL │ │ ├── forearm_mico.dae │ │ ├── hand_2finger.STL │ │ ├── hand_2finger.dae │ │ ├── hand_3finger.STL │ │ ├── hand_3finger.dae │ │ ├── ring_big.STL │ │ ├── ring_big.dae │ │ ├── ring_small.STL │ │ ├── ring_small.dae │ │ ├── shoulder.STL │ │ ├── shoulder.dae │ │ ├── wrist.STL │ │ ├── wrist.dae │ │ ├── wrist_spherical_1.STL │ │ ├── wrist_spherical_1.dae │ │ ├── wrist_spherical_2.STL │ │ └── wrist_spherical_2.dae │ ├── mj-j2s6s300.xml │ ├── ring_big.STL │ ├── ring_small.STL │ ├── ros-j2s6s300.urdf │ ├── ros-j2s6s300.xml │ ├── shoulder.STL │ ├── wrist.STL │ ├── wrist_spherical_1.STL │ └── wrist_spherical_2.STL ├── obstacle_frame.xml ├── obstacle_sparse.xml └── obstacle_spheres.xml ├── joint_limit_test.py ├── kdl_rmpflow ├── __init__.py ├── core │ ├── __init__.py │ └── mj_control.py ├── envs │ ├── __init__.py │ └── mj_jaco │ │ ├── MjJacoEnv.py │ │ ├── __init__.py │ │ └── jaco │ │ ├── __init__.py │ │ ├── jaco.xml │ │ └── meshes │ │ ├── finger_distal_limb_1.stl │ │ ├── finger_distal_limb_2.stl │ │ ├── finger_proximal_limb_1.stl │ │ ├── finger_proximal_limb_2.stl │ │ ├── jaco_link_1.stl │ │ ├── jaco_link_2.stl │ │ ├── jaco_link_3.stl │ │ ├── jaco_link_4.stl │ │ ├── jaco_link_5.stl │ │ ├── jaco_link_base.stl │ │ ├── jaco_link_finger_1.stl │ │ ├── jaco_link_finger_2.stl 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