tonic/ contains the RL library used to train the policies
main/ contains additional code that was used to extend the tonic library, evaluation scripts, code for additional experiments etc. The DEP implementation is in main/controllers.py
warmup/ contains the arm-reaching environments in warmup/warmup/envs/arm26.py and warmup/warmup/envs/arm750.py.
ostrichrl/ contains the original ostrich task by Barbera et al. with our additional tasks (see ostrichrl/ostrichrl/tasks/ostrich/run_stepdown.py for ostrich-stepdown and run_obstacles.py for ostrich-slopetrotter; the corresponding xml files are in ostrichrl/ostrichrl/assets/models/ostrich/). 

A curated code repository will follow.
