├── .gitignore ├── .gitmodules ├── LICENSE.md ├── README.md ├── config ├── camera.yaml ├── camera_info.yaml ├── camera_transform.yaml ├── encoder.yaml ├── full_depth_obs.yaml ├── gripper_grasp.yaml └── simplified_object_picking.yaml ├── encoder_files ├── config.yaml ├── history.csv ├── model.h5 ├── new_encoder │ ├── config.yaml │ ├── history.csv │ ├── model.h5 │ └── reconstructions.png ├── new_gripper_encoder │ ├── config.yaml │ ├── history.csv │ └── model.h5 ├── original_encoder │ ├── Icon_ │ ├── config.yaml │ ├── history.csv │ ├── history.pdf │ ├── model.h5 │ └── reconstructions.png └── reconstructions.png ├── manipulation_main ├── __init__.py ├── agents │ ├── __init__.py │ ├── agent.py │ ├── random_agent.py │ └── slider_agent.py ├── common │ ├── __init__.py │ ├── camera_utils.py │ ├── io_utils.py │ ├── transform_utils.py │ └── transformations.py ├── gripperEnv │ ├── __init__.py │ ├── actuator.py │ ├── curriculum.py │ ├── encoders.py │ ├── rewards.py │ ├── robot.py │ └── sensor.py ├── simulation │ ├── __init__.py │ ├── base_scene.py │ ├── model.py │ ├── scene.py │ └── simulation.py ├── training │ ├── __init__.py │ ├── base_callbacks.py │ ├── custom_obs_policy.py │ ├── sb_helper.py │ ├── train_encoder.py │ ├── train_stable_baselines.py │ └── wrapper.py └── utils.py ├── models ├── gripper │ ├── license.txt │ ├── meshes │ │ ├── GUIDE_WSG50_110.stl │ │ ├── WSG-FMF.stl │ │ ├── WSG50_110.stl │ │ └── l_gripper_tip_scaled.stl │ └── wsg50_one_motor_gripper_new.sdf ├── plane.urdf ├── plane │ ├── plane.obj │ └── planeRL.urdf ├── plane100.obj ├── table │ ├── table.mtl │ ├── table.obj │ ├── table.png │ └── table.urdf └── wooden_blocks │ ├── Icon_ │ ├── circular_segment.urdf │ ├── cube.urdf │ ├── cuboid0.urdf │ ├── cuboid1.urdf │ ├── cylinder.urdf │ ├── meshes │ ├── Icon_ │ ├── circular_segment.obj │ ├── cube.obj │ ├── cuboid0.obj │ ├── cuboid1.obj │ ├── cylinder.obj │ └── triangle.obj │ └── triangle.urdf ├── scripts ├── collect_dataset.py ├── debug_scene.py ├── plot.py └── plot_shaded.py ├── setup.py ├── tests_gripper ├── __init__.py ├── config │ ├── test_continous.yaml │ ├── test_discrete.yaml │ ├── test_encoder.yaml │ ├── test_encoder_simp.yaml │ └── test_simplified_cont.yaml └── test_sim.py └── trained_models ├── BDQ_33pads_big ├── BDQ_33_big.zip ├── best_model │ ├── best_model.zip │ ├── config.yaml │ └── logs │ │ └── evaluations.npz ├── config.yaml └── log_file.monitor.csv ├── BDQ_8pads ├── BDQ_simple_8pads.zip ├── best_model │ ├── best_model.zip │ ├── config.yaml │ └── logs │ │ └── evaluations.npz ├── config.yaml ├── log_file.monitor.csv └── logs.full.csv ├── DQN_4pads ├── DQN_simple_4pads.zip ├── best_model │ ├── best_model.zip │ ├── config.yaml │ └── logs │ │ └── evaluations.npz ├── config.yaml ├── log_file.monitor.csv └── logs.csv ├── SAC_depth_1mbuffer ├── best_model │ ├── best_model.zip │ ├── config.yaml │ ├── logs │ │ └── evaluations.npz │ └── vecnormalize.pkl ├── config.yaml ├── log_file.monitor.csv └── logs.csv ├── SAC_encoder_1mbuffer ├── SAC_best_1mbuffer_5m.zip ├── best_model │ ├── best_model.zip │ ├── config.yaml │ ├── logs │ │ └── evaluations.npz │ └── vecnormalize.pkl ├── config.yaml ├── log_file.monitor.csv ├── logs.full.csv └── vecnormalize.pkl ├── SAC_full_rgbd ├── SAC_full_rgbd.zip ├── best_model │ ├── best_model.zip │ ├── config.yaml │ ├── logs │ │ └── evaluations.npz │ ├── rl_model_625000_steps.zip │ └── vecnormalize.pkl ├── config.yaml ├── log_file.monitor.csv ├── logs.csv └── vecnormalize.pkl └── table_clearing ├── SAC_10m_table ├── SAC_10m_table.zip ├── best_model │ ├── best_model.zip │ ├── config.yaml │ ├── logs │ │ └── evaluations.npz │ └── vecnormalize.pkl ├── config.yaml ├── log_file.monitor.csv └── vecnormalize.pkl └── SAC_real_2m_buffer_128 ├── best_model ├── best_model.zip ├── config.yaml ├── logs │ └── evaluations.npz └── vecnormalize.pkl ├── config.yaml └── log_file.monitor.csv /.gitignore: -------------------------------------------------------------------------------- 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