Simulation-free implementation and exp_ant?

[yesiam-png]

Hi,

Thanks for your excellent work and contribution! I have two questions:

1. Since I'm using google colab, it seems I can't open the meshcat-server before running the training code. So I disable simulation by world = pd.TinyWorld(do_vis=False). Unfortunately, both the exp_punch.py and the exp_throw.py codes get stuck at convert_tool.convert2(urdf_structures, world, mb_gripper) when urdf_structures are './data/punch/p2.urdf' or './data/franka_panda/panda.urdf', './data/franka_panda/sphere2.urdf'. However, exp_ant.py works after setting do_vis=False.
2. What is the purpose of the exp_ant.py task?