├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── docs ├── franka_walkthrough.md └── images │ ├── IMG_6473.jpeg │ ├── IMG_6539.jpg │ ├── motherboard_setup.png │ ├── robot_infra_interfaces.png │ ├── software_design.png │ └── task_banner.gif ├── examples ├── __init__.py ├── experiments │ ├── __init__.py │ ├── config.py │ ├── egg_flip │ │ ├── config.py │ │ ├── run_actor.sh │ │ ├── run_learner.sh │ │ └── wrapper.py │ ├── mappings.py │ ├── object_handover │ │ ├── config.py │ │ ├── run_actor.sh │ │ ├── run_learner.sh │ │ └── wrapper.py │ ├── pick_cube_sim │ │ ├── config.py │ │ ├── run_actor.sh │ │ ├── run_learner.sh │ │ └── wrapper.py │ ├── ram_insertion │ │ ├── config.py │ │ ├── run_actor.sh │ │ ├── run_learner.sh │ │ └── wrapper.py │ └── usb_pickup_insertion │ │ ├── config.py │ │ ├── run_actor.sh │ │ ├── run_learner.sh │ │ └── wrapper.py ├── record_demos.py ├── record_demos_sim.py ├── record_success_fail.py ├── record_success_fail_sim.py ├── train_bc.py ├── train_hgdagger.py ├── train_reward_classifier.py ├── train_rlpd.py └── train_rlpd_sim.py ├── franka_sim ├── .gitignore ├── README.md ├── franka_sim │ ├── __init__.py │ ├── controllers │ │ ├── __init__.py │ │ └── opspace.py │ ├── envs │ │ ├── __init__.py │ │ ├── panda_pick_gym_env.py │ │ ├── utils.py │ │ └── xmls │ │ │ ├── arena.xml │ │ │ ├── franka_emika_panda │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── assets │ │ │ │ ├── finger_0.obj │ │ │ │ ├── finger_1.obj │ │ │ │ ├── hand.stl │ │ │ │ ├── hand_0.obj │ │ │ │ ├── hand_1.obj │ │ │ │ ├── hand_2.obj │ │ │ │ ├── hand_3.obj │ │ │ │ ├── hand_4.obj │ │ │ │ ├── link0.stl │ │ │ │ ├── link0_0.obj │ │ │ │ ├── link0_1.obj │ │ │ │ ├── link0_10.obj │ │ │ │ ├── link0_11.obj │ │ │ │ ├── link0_2.obj │ │ │ │ ├── link0_3.obj │ │ │ │ ├── link0_4.obj │ │ │ │ ├── link0_5.obj │ │ │ │ ├── link0_7.obj │ │ │ │ ├── link0_8.obj │ │ │ │ ├── link0_9.obj │ │ │ │ ├── link1.obj │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.obj │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link3_0.obj │ │ │ │ ├── link3_1.obj │ │ │ │ ├── link3_2.obj │ │ │ │ ├── link3_3.obj │ │ │ │ ├── link4.stl │ │ │ │ ├── link4_0.obj │ │ │ │ ├── link4_1.obj │ │ │ │ ├── link4_2.obj │ │ │ │ ├── link4_3.obj │ │ │ │ ├── link5_0.obj │ │ │ │ ├── link5_1.obj │ │ │ │ ├── link5_2.obj │ │ │ │ ├── link5_collision_0.obj │ │ │ │ ├── link5_collision_1.obj │ │ │ │ ├── link5_collision_2.obj │ │ │ │ ├── link6.stl │ │ │ │ ├── link6_0.obj │ │ │ │ ├── link6_1.obj │ │ │ │ ├── link6_10.obj │ │ │ │ ├── link6_11.obj │ │ │ │ ├── link6_12.obj │ │ │ │ ├── link6_13.obj │ │ │ │ ├── link6_14.obj │ │ │ │ ├── link6_15.obj │ │ │ │ ├── link6_16.obj │ │ │ │ ├── link6_2.obj │ │ │ │ ├── link6_3.obj │ │ │ │ ├── link6_4.obj │ │ │ │ ├── link6_5.obj │ │ │ │ ├── link6_6.obj │ │ │ │ ├── link6_7.obj │ │ │ │ ├── link6_8.obj │ │ │ │ ├── link6_9.obj │ │ │ │ ├── link7.stl │ │ │ │ ├── link7_0.obj │ │ │ │ ├── link7_1.obj │ │ │ │ ├── link7_2.obj │ │ │ │ ├── link7_3.obj │ │ │ │ ├── link7_4.obj │ │ │ │ ├── link7_5.obj │ │ │ │ ├── link7_6.obj │ │ │ │ └── link7_7.obj │ │ │ ├── hand.xml │ │ │ ├── panda.png │ │ │ ├── panda.xml │ │ │ ├── panda_hand.xml │ │ │ └── scene.xml │ │ │ ├── panda.xml │ │ │ └── robotiq_2f85 │ │ │ ├── 2f85.png │ │ │ ├── 2f85.xml │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── assets │ │ │ ├── base.stl │ │ │ ├── base_mount.stl │ │ │ ├── coupler.stl │ │ │ ├── driver.stl │ │ │ ├── follower.stl │ │ │ ├── pad.stl │ │ │ ├── silicone_pad.stl │ │ │ └── spring_link.stl │ │ │ └── scene.xml │ ├── mujoco_gym_env.py │ ├── test │ │ ├── test_gym_env_human.py │ │ ├── test_gym_env_joystick.py │ │ └── test_gym_env_render.py │ └── utils │ │ └── viewer_utils.py ├── requirements.txt └── setup.py ├── requirements.txt ├── serl_launcher ├── .gitignore ├── README.md ├── requirements.txt ├── serl_launcher │ ├── __init__.py │ ├── agents │ │ ├── __init__.py │ │ └── continuous │ │ │ ├── bc.py │ │ │ ├── sac.py │ │ │ ├── sac_hybrid_dual.py │ │ │ └── sac_hybrid_single.py │ ├── common │ │ ├── common.py │ │ ├── encoding.py │ │ ├── evaluation.py │ │ ├── optimizers.py │ │ ├── typing.py │ │ └── wandb.py │ ├── data │ │ ├── __init__.py │ │ ├── data_store.py │ │ ├── dataset.py │ │ ├── memory_efficient_replay_buffer.py │ │ ├── replay_buffer.py │ │ └── replay_buffer_serl.py │ ├── networks │ │ ├── actor_critic_nets.py │ │ ├── classifier.py │ │ ├── lagrange.py │ │ ├── mlp.py │ │ └── reward_classifier.py │ ├── utils │ │ ├── __init__.py │ │ ├── jax_utils.py │ │ ├── launcher.py │ │ ├── logging_utils.py │ │ ├── timer_utils.py │ │ ├── tools.py │ │ └── train_utils.py │ ├── vision │ │ ├── __init__.py │ │ ├── data_augmentations.py │ │ ├── film_conditioning_layer.py │ │ ├── resnet_v1.py │ │ └── spatial.py │ └── wrappers │ │ ├── __init__.py │ │ ├── chunking.py │ │ ├── norm.py │ │ ├── remap.py │ │ ├── serl_obs_wrappers.py │ │ ├── video_recorder.py │ │ └── video_wrapper.py └── setup.py └── serl_robot_infra ├── README.md ├── franka_env ├── camera │ ├── __init__.py │ ├── multi_video_capture.py │ ├── rs_capture.py │ └── video_capture.py ├── envs │ ├── __init__.py │ ├── dual_franka_env.py │ ├── franka_env.py │ ├── franka_wrench_env.py │ ├── relative_env.py │ └── wrappers.py ├── spacemouse │ ├── __init__.py │ ├── pyspacemouse.py │ ├── spacemouse_expert.py │ └── spacemouse_test.py └── utils │ ├── __init__.py │ ├── rotations.py │ └── transformations.py ├── robot_servers ├── __init__.py ├── franka_eggflip_server.py ├── franka_gripper_server.py ├── franka_server.py ├── gripper_server.py ├── launch_left_server.sh ├── launch_right_eggflip_server.sh ├── launch_right_server.sh └── robotiq_gripper_server.py └── setup.py /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/README.md -------------------------------------------------------------------------------- /docs/franka_walkthrough.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/docs/franka_walkthrough.md -------------------------------------------------------------------------------- /docs/images/IMG_6473.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/docs/images/IMG_6473.jpeg -------------------------------------------------------------------------------- /docs/images/IMG_6539.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/docs/images/IMG_6539.jpg -------------------------------------------------------------------------------- /docs/images/motherboard_setup.png: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /docs/images/robot_infra_interfaces.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/docs/images/robot_infra_interfaces.png -------------------------------------------------------------------------------- /docs/images/software_design.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/docs/images/software_design.png -------------------------------------------------------------------------------- /docs/images/task_banner.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/docs/images/task_banner.gif -------------------------------------------------------------------------------- /examples/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /examples/experiments/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /examples/experiments/config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/config.py -------------------------------------------------------------------------------- /examples/experiments/egg_flip/config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/egg_flip/config.py -------------------------------------------------------------------------------- /examples/experiments/egg_flip/run_actor.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/egg_flip/run_actor.sh -------------------------------------------------------------------------------- /examples/experiments/egg_flip/run_learner.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/egg_flip/run_learner.sh -------------------------------------------------------------------------------- /examples/experiments/egg_flip/wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/egg_flip/wrapper.py -------------------------------------------------------------------------------- /examples/experiments/mappings.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/mappings.py -------------------------------------------------------------------------------- /examples/experiments/object_handover/config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/object_handover/config.py -------------------------------------------------------------------------------- /examples/experiments/object_handover/run_actor.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/object_handover/run_actor.sh -------------------------------------------------------------------------------- /examples/experiments/object_handover/run_learner.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/object_handover/run_learner.sh -------------------------------------------------------------------------------- /examples/experiments/object_handover/wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/object_handover/wrapper.py -------------------------------------------------------------------------------- /examples/experiments/pick_cube_sim/config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/pick_cube_sim/config.py -------------------------------------------------------------------------------- /examples/experiments/pick_cube_sim/run_actor.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/pick_cube_sim/run_actor.sh -------------------------------------------------------------------------------- /examples/experiments/pick_cube_sim/run_learner.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/pick_cube_sim/run_learner.sh -------------------------------------------------------------------------------- /examples/experiments/pick_cube_sim/wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/pick_cube_sim/wrapper.py -------------------------------------------------------------------------------- /examples/experiments/ram_insertion/config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/ram_insertion/config.py -------------------------------------------------------------------------------- /examples/experiments/ram_insertion/run_actor.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/ram_insertion/run_actor.sh -------------------------------------------------------------------------------- /examples/experiments/ram_insertion/run_learner.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/ram_insertion/run_learner.sh -------------------------------------------------------------------------------- /examples/experiments/ram_insertion/wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/ram_insertion/wrapper.py -------------------------------------------------------------------------------- /examples/experiments/usb_pickup_insertion/config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/usb_pickup_insertion/config.py -------------------------------------------------------------------------------- /examples/experiments/usb_pickup_insertion/run_actor.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/usb_pickup_insertion/run_actor.sh -------------------------------------------------------------------------------- /examples/experiments/usb_pickup_insertion/run_learner.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/usb_pickup_insertion/run_learner.sh -------------------------------------------------------------------------------- /examples/experiments/usb_pickup_insertion/wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/experiments/usb_pickup_insertion/wrapper.py -------------------------------------------------------------------------------- /examples/record_demos.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/record_demos.py -------------------------------------------------------------------------------- /examples/record_demos_sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/record_demos_sim.py -------------------------------------------------------------------------------- /examples/record_success_fail.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/record_success_fail.py -------------------------------------------------------------------------------- /examples/record_success_fail_sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/record_success_fail_sim.py -------------------------------------------------------------------------------- /examples/train_bc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/train_bc.py -------------------------------------------------------------------------------- /examples/train_hgdagger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/train_hgdagger.py -------------------------------------------------------------------------------- /examples/train_reward_classifier.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/train_reward_classifier.py -------------------------------------------------------------------------------- /examples/train_rlpd.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/train_rlpd.py -------------------------------------------------------------------------------- /examples/train_rlpd_sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/examples/train_rlpd_sim.py -------------------------------------------------------------------------------- /franka_sim/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/.gitignore -------------------------------------------------------------------------------- /franka_sim/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/README.md -------------------------------------------------------------------------------- /franka_sim/franka_sim/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/__init__.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/controllers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/controllers/__init__.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/controllers/opspace.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/controllers/opspace.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/__init__.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/panda_pick_gym_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/panda_pick_gym_env.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/utils.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/arena.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/arena.xml -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/LICENSE -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/README.md -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/finger_0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/finger_0.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/finger_1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/finger_1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_0.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_2.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_3.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_3.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_4.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/hand_4.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_0.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_10.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_10.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_11.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_11.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_2.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_3.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_3.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_4.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_4.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_5.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_5.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_7.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_7.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_8.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_8.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_9.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link0_9.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link1.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link2.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link2.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3_0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3_0.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3_1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3_1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3_2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3_2.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3_3.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link3_3.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4_0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4_0.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4_1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4_1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4_2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4_2.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4_3.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link4_3.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_0.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_2.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_collision_0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_collision_0.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_collision_1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_collision_1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_collision_2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link5_collision_2.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_0.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_10.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_10.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_11.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_11.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_12.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_12.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_13.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_13.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_14.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_14.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_15.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_15.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_16.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_16.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_2.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_3.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_3.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_4.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_4.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_5.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_5.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_6.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_6.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_7.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_7.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_8.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_8.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_9.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link6_9.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_0.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_1.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_1.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_2.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_3.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_3.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_4.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_4.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_5.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_5.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_6.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_6.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_7.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/assets/link7_7.obj -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/hand.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/hand.xml -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/panda.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/panda.png -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/panda.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/panda.xml -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/panda_hand.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/panda_hand.xml -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/franka_emika_panda/scene.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/franka_emika_panda/scene.xml -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/panda.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/panda.xml -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/2f85.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/2f85.png -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/2f85.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/2f85.xml -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/LICENSE -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/README.md -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/base.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/base_mount.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/base_mount.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/coupler.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/coupler.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/driver.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/driver.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/follower.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/follower.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/pad.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/silicone_pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/silicone_pad.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/spring_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/assets/spring_link.stl -------------------------------------------------------------------------------- /franka_sim/franka_sim/envs/xmls/robotiq_2f85/scene.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/envs/xmls/robotiq_2f85/scene.xml -------------------------------------------------------------------------------- /franka_sim/franka_sim/mujoco_gym_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/mujoco_gym_env.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/test/test_gym_env_human.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/test/test_gym_env_human.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/test/test_gym_env_joystick.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/test/test_gym_env_joystick.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/test/test_gym_env_render.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/test/test_gym_env_render.py -------------------------------------------------------------------------------- /franka_sim/franka_sim/utils/viewer_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/franka_sim/utils/viewer_utils.py -------------------------------------------------------------------------------- /franka_sim/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/requirements.txt -------------------------------------------------------------------------------- /franka_sim/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/franka_sim/setup.py -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/requirements.txt -------------------------------------------------------------------------------- /serl_launcher/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/.gitignore -------------------------------------------------------------------------------- /serl_launcher/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/README.md -------------------------------------------------------------------------------- /serl_launcher/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/requirements.txt -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/agents/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/agents/__init__.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/agents/continuous/bc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/agents/continuous/bc.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/agents/continuous/sac.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/agents/continuous/sac.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/agents/continuous/sac_hybrid_dual.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/agents/continuous/sac_hybrid_dual.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/agents/continuous/sac_hybrid_single.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/agents/continuous/sac_hybrid_single.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/common/common.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/common/common.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/common/encoding.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/common/encoding.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/common/evaluation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/common/evaluation.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/common/optimizers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/common/optimizers.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/common/typing.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/common/typing.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/common/wandb.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/common/wandb.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/data/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/data/data_store.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/data/data_store.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/data/dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/data/dataset.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/data/memory_efficient_replay_buffer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/data/memory_efficient_replay_buffer.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/data/replay_buffer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/data/replay_buffer.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/data/replay_buffer_serl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/data/replay_buffer_serl.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/networks/actor_critic_nets.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/networks/actor_critic_nets.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/networks/classifier.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/networks/classifier.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/networks/lagrange.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/networks/lagrange.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/networks/mlp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/networks/mlp.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/networks/reward_classifier.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/networks/reward_classifier.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/utils/jax_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/utils/jax_utils.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/utils/launcher.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/utils/launcher.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/utils/logging_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/utils/logging_utils.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/utils/timer_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/utils/timer_utils.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/utils/tools.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/utils/tools.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/utils/train_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/utils/train_utils.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/vision/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/vision/__init__.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/vision/data_augmentations.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/vision/data_augmentations.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/vision/film_conditioning_layer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/vision/film_conditioning_layer.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/vision/resnet_v1.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/vision/resnet_v1.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/vision/spatial.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/vision/spatial.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/wrappers/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/wrappers/chunking.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/wrappers/chunking.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/wrappers/norm.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/wrappers/norm.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/wrappers/remap.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/wrappers/remap.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/wrappers/serl_obs_wrappers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/wrappers/serl_obs_wrappers.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/wrappers/video_recorder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/wrappers/video_recorder.py -------------------------------------------------------------------------------- /serl_launcher/serl_launcher/wrappers/video_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/serl_launcher/wrappers/video_wrapper.py -------------------------------------------------------------------------------- /serl_launcher/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_launcher/setup.py -------------------------------------------------------------------------------- /serl_robot_infra/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/README.md -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/camera/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/camera/multi_video_capture.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/camera/multi_video_capture.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/camera/rs_capture.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/camera/rs_capture.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/camera/video_capture.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/camera/video_capture.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/envs/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/envs/__init__.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/envs/dual_franka_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/envs/dual_franka_env.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/envs/franka_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/envs/franka_env.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/envs/franka_wrench_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/envs/franka_wrench_env.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/envs/relative_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/envs/relative_env.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/envs/wrappers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/envs/wrappers.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/spacemouse/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/spacemouse/pyspacemouse.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/spacemouse/pyspacemouse.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/spacemouse/spacemouse_expert.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/spacemouse/spacemouse_expert.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/spacemouse/spacemouse_test.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/spacemouse/spacemouse_test.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/utils/rotations.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/utils/rotations.py -------------------------------------------------------------------------------- /serl_robot_infra/franka_env/utils/transformations.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/franka_env/utils/transformations.py -------------------------------------------------------------------------------- /serl_robot_infra/robot_servers/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /serl_robot_infra/robot_servers/franka_eggflip_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/robot_servers/franka_eggflip_server.py -------------------------------------------------------------------------------- /serl_robot_infra/robot_servers/franka_gripper_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/robot_servers/franka_gripper_server.py -------------------------------------------------------------------------------- /serl_robot_infra/robot_servers/franka_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/robot_servers/franka_server.py -------------------------------------------------------------------------------- /serl_robot_infra/robot_servers/gripper_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/robot_servers/gripper_server.py -------------------------------------------------------------------------------- /serl_robot_infra/robot_servers/launch_left_server.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/robot_servers/launch_left_server.sh -------------------------------------------------------------------------------- /serl_robot_infra/robot_servers/launch_right_eggflip_server.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/robot_servers/launch_right_eggflip_server.sh -------------------------------------------------------------------------------- /serl_robot_infra/robot_servers/launch_right_server.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/robot_servers/launch_right_server.sh -------------------------------------------------------------------------------- /serl_robot_infra/robot_servers/robotiq_gripper_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/robot_servers/robotiq_gripper_server.py -------------------------------------------------------------------------------- /serl_robot_infra/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Ke-Wang1017/hil-serl/HEAD/serl_robot_infra/setup.py --------------------------------------------------------------------------------