[CSE 276F Submission] PushT-v1

[Xander-Hinrichsen]

PushT from diffusion policy digital twin

Created PandaStick agent Fully batched calculation for T block intersection area with goal T area, zero explicit loops

Support for ur5e robot is a todo for true twinness Wristcam attached to PandaStick is a todo for visual based RL/IL

ppo args (consistent learning): python ppo.py --env_id="PushT-v1" --exp-name="final_run" --num_envs=1024 --update_epochs=8 --num_minibatches=32 --total_timesteps=55_000_000 --eval_freq=8 --num-steps=100 --num_eval_steps=100 --gamma=0.99

[Xander-Hinrichsen]

@StoneT2000 , could I request a review on this PR please? Thank you!

[Xander-Hinrichsen]

@StoneT2000 , I've made the changes. Let me know if there are any more issues