├── .docker ├── build.bash ├── devel.bash ├── host │ └── install_docker_with_nvidia.bash ├── internal │ ├── .bash_aliases │ ├── cyclonedds.xml │ ├── entrypoint.bash │ └── setup_symlinks.bash └── run.bash ├── .dockerignore ├── .git_hooks └── setup.bash ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── CMakeLists.txt ├── Dockerfile ├── LICENSE ├── README.md ├── drl_grasping.repos ├── drl_grasping ├── __init__.py ├── drl_octree │ ├── __init__.py │ ├── algorithms │ │ ├── __init__.py │ │ ├── off_policy_algorithm.py │ │ ├── sac │ │ │ ├── __init__.py │ │ │ └── policies.py │ │ ├── td3 │ │ │ ├── __init__.py │ │ │ └── policies.py │ │ └── tqc │ │ │ ├── __init__.py │ │ │ └── policies.py │ ├── features_extractor │ │ ├── __init__.py │ │ ├── image_cnn.py │ │ ├── modules.py │ │ └── octree_cnn.py │ └── replay_buffer │ │ ├── __init__.py │ │ ├── replay_buffer.py │ │ └── utils.py ├── envs │ ├── __init__.py │ ├── control │ │ └── __init__.py │ ├── models │ │ ├── __init__.py │ │ ├── lights │ │ │ ├── __init__.py │ │ │ ├── random_sun.py │ │ │ └── sun.py │ │ ├── objects │ │ │ ├── __init__.py │ │ │ ├── primitives │ │ │ │ ├── __init__.py │ │ │ │ ├── box.py │ │ │ │ ├── cylinder.py │ │ │ │ ├── plane.py │ │ │ │ └── sphere.py │ │ │ ├── random_lunar_rock.py │ │ │ ├── random_object.py │ │ │ ├── random_primitive.py │ │ │ └── rock.py │ │ ├── robots │ │ │ ├── __init__.py │ │ │ ├── lunalab_summit_xl_gen.py │ │ │ └── panda.py │ │ ├── sensors │ │ │ ├── __init__.py │ │ │ └── camera.py │ │ ├── terrains │ │ │ ├── __init__.py │ │ │ ├── ground.py │ │ │ ├── lunar_heightmap.py │ │ │ ├── lunar_surface.py │ │ │ ├── random_ground.py │ │ │ └── random_lunar_surface.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── model_collection_randomizer.py │ │ │ └── xacro2sdf.py │ ├── perception │ │ ├── __init__.py │ │ ├── camera_subscriber.py │ │ └── octree.py │ ├── randomizers │ │ ├── __init__.py │ │ └── manipulation.py │ ├── runtimes │ │ ├── __init__.py │ │ └── real_evaluation.py │ ├── tasks │ │ ├── __init__.py │ │ ├── curriculums │ │ │ ├── __init__.py │ │ │ ├── common.py │ │ │ └── grasp.py │ │ ├── grasp │ │ │ ├── __init__.py │ │ │ ├── grasp.py │ │ │ └── grasp_octree.py │ │ ├── grasp_planetary │ │ │ ├── __init__.py │ │ │ ├── grasp_planetary.py │ │ │ ├── grasp_planetary_color_image.py │ │ │ ├── grasp_planetary_depth_image.py │ │ │ └── grasp_planetary_octree.py │ │ ├── manipulation.py │ │ └── reach │ │ │ ├── __init__.py │ │ │ ├── reach.py │ │ │ ├── reach_color_image.py │ │ │ ├── reach_depth_image.py │ │ │ └── reach_octree.py │ ├── utils │ │ ├── __init__.py │ │ ├── conversions.py │ │ ├── gazebo.py │ │ ├── logging.py │ │ ├── math.py │ │ ├── tf2_broadcaster.py │ │ └── tf2_listener.py │ └── worlds │ │ ├── default.sdf │ │ └── lunar.sdf └── utils │ ├── README.md │ ├── __init__.py │ ├── callbacks.py │ ├── exp_manager.py │ ├── hyperparams_opt.py │ ├── utils.py │ └── wrappers.py ├── examples ├── ex_evaluate.bash ├── ex_evaluate_pretrained_agent.bash ├── ex_evaluate_real.bash ├── ex_optimize.bash ├── ex_random_agent.bash ├── ex_train.bash └── ex_train_dreamerv2.bash ├── hyperparams ├── sac.yml ├── td3.yml └── tqc.yml ├── launch ├── evaluate.launch.py ├── optimize.launch.py ├── random_agent.launch.py ├── real │ └── real_lunalab_summit_xl_gen.launch.py ├── sim │ └── sim.launch.py ├── train.launch.py └── train_dreamerv2.launch.py ├── package.xml ├── python_requirements.txt ├── rviz ├── drl_grasping.rviz └── drl_grasping_real_evaluation.rviz └── scripts ├── evaluate.py ├── preload_replay_buffer.py ├── random_agent.py ├── train.py ├── train_dreamerv2.py └── utils ├── dataset ├── dataset_download_test.bash ├── dataset_download_train.bash ├── dataset_set_test.bash └── dataset_set_train.bash └── process_collection.py /.docker/build.bash: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AndrejOrsula/drl_grasping/HEAD/.docker/build.bash 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