├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── assets ├── demo.gif ├── demo3.gif ├── framework.JPG └── gaddpg.gif ├── core ├── __init__.py ├── agent.py ├── bc.py ├── ddpg.py ├── load_tensorboard.py ├── loss.py ├── networks.py ├── replay_memory.py ├── test_realworld_ros_final.py ├── train_online.py ├── train_test_offline.py ├── train_test_offline_blender.py ├── trainer.py └── utils.py ├── env ├── __init__.py ├── models │ └── panda │ │ ├── meshes │ │ ├── collision │ │ │ ├── camera.stl │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ └── visual │ │ │ ├── camera.DAE │ │ │ ├── colors.png │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ └── link6.obj │ │ ├── panda_gripper_hand_camera.urdf │ │ └── panda_gripper_hand_camera_blender.urdf ├── panda_gripper_hand_camera.py └── panda_scene.py ├── experiments ├── __init__.py ├── cfgs │ ├── bc_aux_dagger.yaml │ ├── bc_save_data.yaml │ └── td3_critic_aux_policy_aux.yaml ├── config.py ├── model_spec │ ├── rl_pointnet_model_spec.yaml │ └── rl_resnet_model_spec.yaml ├── object_index │ ├── extra_shape.json │ ├── filter_shapenet.json │ └── ycb_large.json └── scripts │ ├── download_data.sh │ ├── download_model.sh │ ├── download_offline_data.sh │ ├── test_demo.sh │ ├── test_demo_shapenet.sh │ ├── test_ycb.sh │ ├── train_offline.sh │ ├── train_online.sh │ ├── train_online_continue.sh │ └── train_online_save_buffer.sh ├── misc ├── convert_graspnet_grasp.py ├── grasp_data_reader.py └── online_object_renderer.py └── requirements.txt /.gitignore: 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