├── .gitignore ├── LICENSE ├── NVIDIA LICENSE.txt ├── README.md ├── ROS ├── mobilefranka_rl_node.py ├── models │ ├── baselinebest.onnx │ ├── baselinebest2.onnx │ ├── m1best.onnx │ ├── m1best2.onnx │ ├── m2best.onnx │ └── m2best2.onnx ├── move_to_start.py └── panda_files │ ├── controller_no_rviz.launch │ └── tf_setup │ ├── CMakeLists.txt │ ├── launch │ └── tf_launch.launch │ ├── package.xml │ └── src │ └── tf2_broadcaster.py ├── assets └── ridgeback_franka │ ├── .thumbs │ └── 256x256 │ │ ├── ridgeback_franka6_instanceable.usd.png │ │ ├── ridgeback_franka6_meshes.usd.png │ │ └── ridgeback_franka_meshes.usd.png │ ├── ridgeback_franka6_instanceable.usd │ └── ridgeback_franka6_meshes.usd ├── doc ├── isaac.png ├── sarl_vs_marl.gif └── task.png ├── omniisaacgymenvs ├── __init__.py ├── cfg │ ├── config.yaml │ ├── task │ │ ├── MobileFranka.yaml │ │ ├── MobileFrankaMARL.yaml │ │ └── MobileFrankaMARL_cv.yaml │ └── train │ │ ├── MobileFrankaMARLPPO.yaml │ │ ├── MobileFrankaMARL_cvPPO.yaml │ │ └── MobileFrankaPPO.yaml ├── envs │ ├── __init__.py │ ├── vec_env_rlgames.py │ └── vec_env_rlgames_mt.py ├── robots │ └── articulations │ │ ├── __init__.py │ │ ├── franka.py │ │ ├── mobile_franka.py │ │ └── views │ │ ├── __init__.py │ │ └── mobile_franka_view.py ├── scripts │ ├── random_policy.py │ ├── rlgames_demo.py │ ├── rlgames_onnx.py │ ├── rlgames_onnx_normalized.py │ ├── rlgames_onnx_normalized_marl.py │ ├── rlgames_train.py │ └── rlgames_train_mt.py ├── tasks │ ├── __init__.py │ ├── base │ │ └── rl_task.py │ ├── mobile_franka.py │ ├── mobile_franka_marl.py │ └── utils │ │ └── usd_utils.py └── utils │ ├── config_utils │ ├── default_scene_params.py │ ├── path_utils.py │ └── sim_config.py │ ├── domain_randomization │ └── randomize.py │ ├── hydra_cfg │ ├── hydra_utils.py │ └── reformat.py │ ├── rlgames │ └── rlgames_utils.py │ ├── task_util.py │ └── usd_utils │ └── create_instanceable_assets.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/LICENSE -------------------------------------------------------------------------------- /NVIDIA LICENSE.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/NVIDIA LICENSE.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/README.md -------------------------------------------------------------------------------- /ROS/mobilefranka_rl_node.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/mobilefranka_rl_node.py -------------------------------------------------------------------------------- /ROS/models/baselinebest.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/models/baselinebest.onnx -------------------------------------------------------------------------------- /ROS/models/baselinebest2.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/models/baselinebest2.onnx -------------------------------------------------------------------------------- /ROS/models/m1best.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/models/m1best.onnx -------------------------------------------------------------------------------- /ROS/models/m1best2.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/models/m1best2.onnx -------------------------------------------------------------------------------- /ROS/models/m2best.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/models/m2best.onnx -------------------------------------------------------------------------------- /ROS/models/m2best2.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/models/m2best2.onnx -------------------------------------------------------------------------------- /ROS/move_to_start.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/move_to_start.py -------------------------------------------------------------------------------- /ROS/panda_files/controller_no_rviz.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/panda_files/controller_no_rviz.launch -------------------------------------------------------------------------------- /ROS/panda_files/tf_setup/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/panda_files/tf_setup/CMakeLists.txt -------------------------------------------------------------------------------- /ROS/panda_files/tf_setup/launch/tf_launch.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/panda_files/tf_setup/launch/tf_launch.launch -------------------------------------------------------------------------------- /ROS/panda_files/tf_setup/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/panda_files/tf_setup/package.xml -------------------------------------------------------------------------------- /ROS/panda_files/tf_setup/src/tf2_broadcaster.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/ROS/panda_files/tf_setup/src/tf2_broadcaster.py -------------------------------------------------------------------------------- /assets/ridgeback_franka/.thumbs/256x256/ridgeback_franka6_instanceable.usd.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/assets/ridgeback_franka/.thumbs/256x256/ridgeback_franka6_instanceable.usd.png -------------------------------------------------------------------------------- /assets/ridgeback_franka/.thumbs/256x256/ridgeback_franka6_meshes.usd.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/assets/ridgeback_franka/.thumbs/256x256/ridgeback_franka6_meshes.usd.png -------------------------------------------------------------------------------- /assets/ridgeback_franka/.thumbs/256x256/ridgeback_franka_meshes.usd.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/assets/ridgeback_franka/.thumbs/256x256/ridgeback_franka_meshes.usd.png -------------------------------------------------------------------------------- /assets/ridgeback_franka/ridgeback_franka6_instanceable.usd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/assets/ridgeback_franka/ridgeback_franka6_instanceable.usd -------------------------------------------------------------------------------- /assets/ridgeback_franka/ridgeback_franka6_meshes.usd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/assets/ridgeback_franka/ridgeback_franka6_meshes.usd -------------------------------------------------------------------------------- /doc/isaac.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/doc/isaac.png -------------------------------------------------------------------------------- /doc/sarl_vs_marl.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/doc/sarl_vs_marl.gif -------------------------------------------------------------------------------- /doc/task.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/doc/task.png -------------------------------------------------------------------------------- /omniisaacgymenvs/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /omniisaacgymenvs/cfg/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/cfg/config.yaml -------------------------------------------------------------------------------- /omniisaacgymenvs/cfg/task/MobileFranka.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/cfg/task/MobileFranka.yaml -------------------------------------------------------------------------------- /omniisaacgymenvs/cfg/task/MobileFrankaMARL.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/cfg/task/MobileFrankaMARL.yaml -------------------------------------------------------------------------------- /omniisaacgymenvs/cfg/task/MobileFrankaMARL_cv.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/cfg/task/MobileFrankaMARL_cv.yaml -------------------------------------------------------------------------------- /omniisaacgymenvs/cfg/train/MobileFrankaMARLPPO.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/cfg/train/MobileFrankaMARLPPO.yaml -------------------------------------------------------------------------------- /omniisaacgymenvs/cfg/train/MobileFrankaMARL_cvPPO.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/cfg/train/MobileFrankaMARL_cvPPO.yaml -------------------------------------------------------------------------------- /omniisaacgymenvs/cfg/train/MobileFrankaPPO.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/cfg/train/MobileFrankaPPO.yaml -------------------------------------------------------------------------------- /omniisaacgymenvs/envs/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /omniisaacgymenvs/envs/vec_env_rlgames.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/envs/vec_env_rlgames.py -------------------------------------------------------------------------------- /omniisaacgymenvs/envs/vec_env_rlgames_mt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/envs/vec_env_rlgames_mt.py -------------------------------------------------------------------------------- /omniisaacgymenvs/robots/articulations/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /omniisaacgymenvs/robots/articulations/franka.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/robots/articulations/franka.py -------------------------------------------------------------------------------- /omniisaacgymenvs/robots/articulations/mobile_franka.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/robots/articulations/mobile_franka.py -------------------------------------------------------------------------------- /omniisaacgymenvs/robots/articulations/views/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /omniisaacgymenvs/robots/articulations/views/mobile_franka_view.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/robots/articulations/views/mobile_franka_view.py -------------------------------------------------------------------------------- /omniisaacgymenvs/scripts/random_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/scripts/random_policy.py -------------------------------------------------------------------------------- /omniisaacgymenvs/scripts/rlgames_demo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/scripts/rlgames_demo.py -------------------------------------------------------------------------------- /omniisaacgymenvs/scripts/rlgames_onnx.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/scripts/rlgames_onnx.py -------------------------------------------------------------------------------- /omniisaacgymenvs/scripts/rlgames_onnx_normalized.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/scripts/rlgames_onnx_normalized.py -------------------------------------------------------------------------------- /omniisaacgymenvs/scripts/rlgames_onnx_normalized_marl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/scripts/rlgames_onnx_normalized_marl.py -------------------------------------------------------------------------------- /omniisaacgymenvs/scripts/rlgames_train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/scripts/rlgames_train.py -------------------------------------------------------------------------------- /omniisaacgymenvs/scripts/rlgames_train_mt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/scripts/rlgames_train_mt.py -------------------------------------------------------------------------------- /omniisaacgymenvs/tasks/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /omniisaacgymenvs/tasks/base/rl_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/tasks/base/rl_task.py -------------------------------------------------------------------------------- /omniisaacgymenvs/tasks/mobile_franka.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/tasks/mobile_franka.py -------------------------------------------------------------------------------- /omniisaacgymenvs/tasks/mobile_franka_marl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/tasks/mobile_franka_marl.py -------------------------------------------------------------------------------- /omniisaacgymenvs/tasks/utils/usd_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/tasks/utils/usd_utils.py -------------------------------------------------------------------------------- /omniisaacgymenvs/utils/config_utils/default_scene_params.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/utils/config_utils/default_scene_params.py -------------------------------------------------------------------------------- /omniisaacgymenvs/utils/config_utils/path_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/utils/config_utils/path_utils.py -------------------------------------------------------------------------------- /omniisaacgymenvs/utils/config_utils/sim_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/utils/config_utils/sim_config.py -------------------------------------------------------------------------------- /omniisaacgymenvs/utils/domain_randomization/randomize.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/utils/domain_randomization/randomize.py -------------------------------------------------------------------------------- /omniisaacgymenvs/utils/hydra_cfg/hydra_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/utils/hydra_cfg/hydra_utils.py -------------------------------------------------------------------------------- /omniisaacgymenvs/utils/hydra_cfg/reformat.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/utils/hydra_cfg/reformat.py -------------------------------------------------------------------------------- /omniisaacgymenvs/utils/rlgames/rlgames_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/utils/rlgames/rlgames_utils.py -------------------------------------------------------------------------------- /omniisaacgymenvs/utils/task_util.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/utils/task_util.py -------------------------------------------------------------------------------- /omniisaacgymenvs/utils/usd_utils/create_instanceable_assets.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/omniisaacgymenvs/utils/usd_utils/create_instanceable_assets.py -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TIERS/isaac-marl-mobile-manipulation/HEAD/setup.py --------------------------------------------------------------------------------