├── .gitignore ├── .swp ├── Dockerfile ├── Makefile ├── README.md ├── README_assets ├── camera_raw_image_subscriber_ss.png ├── depth_camera_raw_image_subscriber_ss.jpeg ├── forkliftEnv_training_ss.png ├── forklift_gui_controller_ss.png └── rviz_lidar_ss.jpeg ├── requirements.txt ├── ros2_pkg_requirements.txt └── src ├── forklift_gym_env ├── forklift_gym_env │ ├── __init__.py │ ├── config │ │ ├── config_DDPG_forklift_env.yaml │ │ ├── config_DDPG_openai_env.yaml │ │ ├── config_HER_DDPG_forklift_env.yaml │ │ └── config_SB3_forklift_env.yaml │ ├── envs │ │ ├── Forklift_env.py │ │ ├── __init__.py │ │ ├── controller_publishers │ │ │ ├── diff_cont_cmd_vel_unstamped_publisher.py │ │ │ └── fork_joint_controller_cmd_publisher.py │ │ ├── forklift_env_Actions_utils.py │ │ ├── forklift_env_Rewards_utils.py │ │ ├── forklift_env_observations_utils.py │ │ ├── sensor_subscribers │ │ │ ├── collision_detection_subscriber.py │ │ │ ├── depth_camera_raw_image_subscriber.py │ │ │ ├── forklift_robot_frame_listener.py │ │ │ ├── forklift_robot_ros_clock_subscriber.py │ │ │ ├── forklift_robot_tf_subscriber.py │ │ │ └── get_entity_state_client.py │ │ ├── simulation_controller.py │ │ └── utils.py │ ├── gui_controller │ │ └── gui_controller.py │ ├── logging │ │ └── logger.py │ ├── rl │ │ ├── DDPG │ │ │ ├── DDPG_Agent.py │ │ │ ├── Replay_Buffer.py │ │ │ ├── train_DDPG.py │ │ │ └── utils.py │ │ └── sb3_HER │ │ │ ├── train_sb3.py │ │ │ └── utils.py │ └── test │ │ ├── config_pytest_forklift_env.yaml │ │ ├── pytest.ini │ │ ├── run_pytest.py │ │ ├── test_ForkliftEnv.py │ │ └── test_replay_buffer.py ├── models │ └── pallet │ │ ├── meshes │ │ ├── Bois_palette.jpg │ │ └── pallet.dae │ │ ├── model.config │ │ ├── model.sdf │ │ └── thumbnails │ │ ├── 1.png │ │ ├── 2.png │ │ ├── 3.png │ │ ├── 4.png │ │ └── 5.png ├── package.xml ├── resource │ └── forklift_gym_env ├── setup.cfg ├── setup.py ├── test │ ├── no_test_copyright.py │ ├── no_test_flake8.py │ └── no_test_pep257.py └── worlds │ ├── blank.world │ ├── collision_detection.world │ ├── road.world │ └── robot_lab.world ├── forklift_robot ├── README.md ├── config │ └── my_controllers.yaml ├── forklift_robot │ ├── __init__.py │ ├── camera_raw_image_subscriber.py │ ├── depth_camera_raw_image_subscriber.py │ ├── diff_cont_cmd_vel_unstamped_publisher.py │ ├── fork_controller_publisher.py │ ├── lidar_scan_subscriber.py │ ├── odom_subscriber.py │ └── template scripts │ │ ├── minimal_publisher_template.py │ │ └── minimal_subscriber_template.py ├── launch │ ├── __pycache__ │ │ └── rviz_launch.launch.cpython-310.pyc │ ├── demo_launch.launch.py │ ├── dev_robot_state_publisher_launch.launch.py │ ├── dev_rviz_only_launch.launch.py │ ├── gazebo_launch.launch.py │ ├── ros2Control_gazebo_launch.launch.py │ └── rviz_launch.launch.py ├── package.xml ├── resource │ └── forklift_robot ├── rviz │ ├── forklift_rviz.rviz │ └── forklift_with_sensors.rviz ├── setup.cfg ├── setup.py ├── test │ ├── no_test_copyright.py │ ├── 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