├── .gitignore ├── Grasping_Agent_multidiscrete.py ├── Modules.py ├── Offline RL ├── extract_positives.py ├── generate_data.py ├── grasping_dataset.py ├── train.py └── unite_data.py ├── README.md ├── UR5+gripper ├── UR5gripper.xml ├── UR5gripper_2_finger.xml ├── UR5gripper_2_finger_many_objects.xml ├── UR5gripper_3_finger.xml ├── UR5gripper_reacher.xml ├── UR5gripper_v3.xml ├── mesh │ └── visual │ │ ├── base.stl │ │ ├── driver.stl │ │ ├── forearm.stl │ │ ├── inner_finger_coarse.STL │ │ ├── inner_knuckle_coarse.STL │ │ ├── link_0.STL │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ ├── outer_finger_coarse.STL │ │ ├── outer_knuckle_coarse.STL │ │ ├── palm.STL │ │ ├── robotiq_85_base_link_coarse.STL │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl ├── objects.xml ├── textures │ ├── grass.png │ ├── grass2.png │ ├── metal.png │ ├── metal2.png │ ├── wood.png │ └── wood2.png └── ur5_gripper.urdf ├── decorators.py ├── example.py ├── example_agent.py ├── gym_grasper ├── __init__.py ├── controller │ └── MujocoController.py ├── envs │ ├── GraspingEnv.py │ └── __init__.py └── version.py ├── license.txt ├── mean_and_std ├── media ├── console.png ├── gif_1.gif ├── gif_2.gif ├── gif_3.gif ├── gif_4.gif ├── grasp.png ├── new_gripper.png ├── observation_rgb.png ├── overlay.png ├── plot_1.png └── point_cloud.png ├── normalize.py ├── requirements.txt └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PaulDanielML/MuJoCo_RL_UR5/HEAD/.gitignore -------------------------------------------------------------------------------- /Grasping_Agent_multidiscrete.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PaulDanielML/MuJoCo_RL_UR5/HEAD/Grasping_Agent_multidiscrete.py -------------------------------------------------------------------------------- /Modules.py: 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