├── .gitignore ├── LICENSE ├── README.md ├── assets ├── envs.gif └── humanoid_depth.png ├── buffer.py ├── envs ├── __init__.py ├── ant.py ├── ant_ball.py ├── ant_maze.py ├── ant_maze_generalization.py ├── ant_push.py ├── ant_push_IJ.py ├── assets │ ├── ant.xml │ ├── ant_ball.xml │ ├── ant_maze.xml │ ├── ant_push.xml │ ├── franka_emika_panda │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ │ ├── finger_0.obj │ │ │ ├── finger_1.obj │ │ │ ├── hand.stl │ │ │ ├── hand_0.obj │ │ │ ├── hand_1.obj │ │ │ ├── hand_2.obj │ │ │ ├── hand_3.obj │ │ │ ├── hand_4.obj │ │ │ ├── link0.stl │ │ │ ├── link0_0.obj │ │ │ ├── link0_1.obj │ │ │ ├── link0_10.obj │ │ │ ├── link0_11.obj │ │ │ ├── link0_2.obj │ │ │ ├── link0_3.obj │ │ │ ├── link0_4.obj │ │ │ ├── link0_5.obj │ │ │ ├── link0_7.obj │ │ │ ├── link0_8.obj │ │ │ ├── link0_9.obj │ │ │ ├── link1.obj │ │ │ ├── link1.stl │ │ │ ├── link2.obj │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link3_0.obj │ │ │ ├── link3_1.obj │ │ │ ├── link3_2.obj │ │ │ ├── link3_3.obj │ │ │ ├── link4.stl │ │ │ ├── link4_0.obj │ │ │ ├── link4_1.obj │ │ │ ├── link4_2.obj │ │ │ ├── link4_3.obj │ │ │ ├── link5_0.obj │ │ │ ├── link5_1.obj │ │ │ ├── link5_2.obj │ │ │ ├── link5_collision_0.obj │ │ │ ├── link5_collision_1.obj │ │ │ ├── link5_collision_2.obj │ │ │ ├── link6.stl │ │ │ ├── link6_0.obj │ │ │ ├── link6_1.obj │ │ │ ├── link6_10.obj │ │ │ ├── link6_11.obj │ │ │ ├── link6_12.obj │ │ │ ├── link6_13.obj │ │ │ ├── link6_14.obj │ │ │ ├── link6_15.obj │ │ │ ├── link6_16.obj │ │ │ ├── link6_2.obj │ │ │ ├── link6_3.obj │ │ │ ├── link6_4.obj │ │ │ ├── link6_5.obj │ │ │ ├── link6_6.obj │ │ │ ├── link6_7.obj │ │ │ ├── link6_8.obj │ │ │ ├── link6_9.obj │ │ │ ├── link7.stl │ │ │ ├── link7_0.obj │ │ │ ├── link7_1.obj │ │ │ ├── link7_2.obj │ │ │ ├── link7_3.obj │ │ │ ├── link7_4.obj │ │ │ ├── link7_5.obj │ │ │ ├── link7_6.obj │ │ │ └── link7_7.obj │ │ ├── hand.xml │ │ ├── panda.png │ │ ├── panda.xml │ │ ├── panda_nohand.xml │ │ └── scene.xml │ ├── half_cheetah.xml │ ├── humanoid.xml │ ├── humanoid_maze.xml │ ├── panda_binpick_easy.xml │ ├── panda_binpick_easy_EEF.xml │ ├── panda_binpick_hard.xml │ ├── panda_grasp.xml │ ├── panda_push_easy.xml │ ├── panda_push_hard.xml │ ├── panda_reach.xml │ └── simple_maze.xml ├── debug_env.py ├── half_cheetah.py ├── humanoid.py ├── humanoid_maze.py ├── manipulation │ ├── __pycache__ │ │ ├── arm_binpick_easy.cpython-310.pyc │ │ ├── arm_binpick_hard.cpython-310.pyc │ │ ├── arm_envs.cpython-310.pyc │ │ ├── arm_push_easy.cpython-310.pyc │ │ └── arm_push_hard.cpython-310.pyc │ ├── arm_binpick_easy.py │ ├── arm_binpick_easy_EEF.py │ ├── arm_binpick_hard.py │ ├── arm_envs.py │ ├── arm_envs_new.py │ ├── arm_grasp.py │ ├── arm_push_easy.py │ ├── arm_push_hard.py │ └── arm_reach.py ├── pusher.py ├── reacher.py └── simple_maze.py ├── evaluator.py ├── job.slurm ├── pyproject.toml ├── runs └── .gitkeep └── train.py /.gitignore: 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