├── .gitignore ├── README.md ├── examples ├── jackal_robots │ ├── cfg_jackals.yaml │ ├── dynamics.py │ ├── objective.py │ ├── run_centralized.py │ ├── run_decentralized.py │ └── simulator.py ├── jackal_robots_real_world │ ├── cfg_jackal.yaml │ ├── dynamics.py │ ├── objective.py │ ├── realworld.py │ └── run_realworld.py ├── point_robots │ ├── cfg_point_robot.yaml │ ├── dynamics.py │ ├── objective.py │ ├── run_centralized.py │ ├── run_centralized_n_episodes.py │ ├── run_decentralized.py │ └── simulator.py ├── roboats │ ├── cfg_roboats.yaml │ ├── dynamics.py │ ├── objective.py │ ├── run_centralized.py │ ├── run_decentralized.py │ ├── simulator.py │ └── urdf_files │ │ ├── quarter_roboat.urdf │ │ └── sphere.urdf └── roboats_real_world │ ├── cfg_roboats.yaml │ ├── dynamics.py │ ├── objective.py │ ├── realworld.py │ ├── run_centralized.py │ ├── run_decentralized.py │ ├── run_realworld.py │ ├── simulator.py │ └── urdf_files │ ├── quarter_roboat.urdf │ └── sphere.urdf ├── ia_mppi └── ia_mppi.py 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