Isaac-ManipulaRL
Deep Reinforcement Learning Framework for Manipulator based on NVIDIA's Isaac-gym, Additional add SAC2019 and Reinforcement Learning from Demonstration Algorithm.
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Download Latest Version (.zip)- c_cpp_properties.json
- launch.json
- settings.json
- PEDESTAL.DAE
- PEDESTAL.STL
- pedestal_link_collision.DAE
- pedestal_link_collision.STL
- H0.DAE
- H0.STL
- H1.DAE
- H1.STL
- E1.DAE
- E1.STL
- W1.DAE
- W1.STL
- S1.DAE
- S1.STL
- base_link.DAE
- base_link.STL
- base_link_collision.DAE
- base_link_collision.STL
- E0.DAE
- E0.STL
- W0.DAE
- W0.STL
- S0.DAE
- S0.STL
- W2.DAE
- W2.STL
- baxter_base.gazebo.xacro
- baxter_base.urdf.xacro
- pedestal.xacro
- baxter.urdf
- baxter.urdf.xacro
- baxter_isaac.urdf
- left_end_effector.urdf.xacro
- right_end_effector.urdf.xacro
- CMakeLists.txt
- package.xml
- basic_hard_tip.DAE
- basic_hard_tip.STL
- basic_soft_tip.DAE
- basic_soft_tip.STL
- extended_narrow.DAE
- extended_narrow.STL
- extended_wide.DAE
- extended_wide.STL
- half_round_tip.DAE
- half_round_tip.STL
- limiter.DAE
- limiter.STL
- paddle_tip.DAE
- paddle_tip.STL
- standard_narrow.DAE
- standard_narrow.STL
- standard_wide.DAE
- standard_wide.STL
- electric_gripper_base.DAE
- electric_gripper_base.STL
- electric_gripper_w_fingers.DAE
- electric_gripper_w_fingers.STL
- pneumatic_gripper.STL
- pneumatic_gripper_30mm_cup.STL
- pneumatic_gripper_base.DAE
- pneumatic_gripper_base.STL
- pneumatic_gripper_w_cup.DAE
- pneumatic_gripper_w_cup.STL
- basic_hard_tip.xacro
- basic_soft_tip.xacro
- extended_narrow.xacro
- extended_wide.xacro
- half_round_tip.xacro
- none.xacro
- paddle_tip.xacro
- standard_narrow.xacro
- standard_wide.xacro
- example_end_effector.urdf.xacro
- rethink_electric_gripper.xacro
- example_end_effector.urdf.xacro
- null_gripper.xacro
- example_end_effector.urdf.xacro
- pneumatic_gripper_base.xacro
- rethink_pneumatic_gripper.xacro
- CMakeLists.txt
- package.xml
- baxter_isaac.urdf
- baxter_isaac_copy.urdf
- baxter_isaac_test.urdf
- chassis.glb
- ingenuity-acknowledgement.txt
- lower_prop.glb
- upper_prop.glb
- pick_and_place.xml
- push.xml
- reach.xml
- robot.xml
- shared.xml
- slide.xml
- egg.xml
- manipulate_block.xml
- manipulate_block_touch_sensors.xml
- manipulate_egg.xml
- manipulate_egg_touch_sensors.xml
- manipulate_pen.xml
- manipulate_pen_touch_sensors.xml
- pen.xml
- reach.xml
- robot.xml
- robot_touch_sensors_92.xml
- shadow_hand.xml
- shared.xml
- shared_asset.xml
- shared_touch_sensors_92.xml
- base_link_collision.stl
- bellows_link_collision.stl
- elbow_flex_link_collision.stl
- estop_link.stl
- forearm_roll_link_collision.stl
- gripper_link.stl
- head_pan_link_collision.stl
- head_tilt_link_collision.stl
- l_wheel_link_collision.stl
- laser_link.stl
- r_wheel_link_collision.stl
- shoulder_lift_link_collision.stl
- shoulder_pan_link_collision.stl
- torso_fixed_link.stl
- torso_lift_link_collision.stl
- upperarm_roll_link_collision.stl
- wrist_flex_link_collision.stl
- wrist_roll_link_collision.stl
- F1.stl
- F2.stl
- F3.stl
- forearm_electric.stl
- forearm_electric_cvx.stl
- knuckle.stl
- lfmetacarpal.stl
- palm.stl
- TH1_z.stl
- TH2_z.stl
- TH3_z.stl
- wrist.stl
- .get
- block.png
- block_hidden.png
- LICENSE.md
- balance_bot.xml
- humanoid_CMU_V2020_v2.xml
- nv_ant.xml
- nv_humanoid.xml
- joint_names_base.yaml
- display.launch
- gazebo.launch
- base_link.STL
- base.csv
- base.urdf
- CMakeLists.txt
- package.xml
- joint_names_cap.yaml
- display.launch
- gazebo.launch
- base_link.STL
- cap.csv
- cap.urdf
- CMakeLists.txt
- package.xml
- joint_names_shaft.yaml
- display.launch
- gazebo.launch
- base_link.STL
- shaft.csv
- shaft.urdf
- CMakeLists.txt
- package.xml
- background_texture_metal_rust.jpg
- metal_wall_iron_fence.jpg
- particle_board_paint_aged.jpg
- pebble_stone_texture_nature.jpg
- texture_background_wall_paint_2.jpg
- texture_background_wall_paint_3.jpg
- texture_stone_stone_texture_0.jpg
- texture_wood_brown_1033760.jpg
- joint_names_base.yaml
- display.launch
- gazebo.launch
- ur_assemble.launch
- base.STL
- camera.STL
- cap.STL
- shaft.STL
- toolMount.STL
- workbench.STL
- base.STL
- model.config
- model.sdf
- model.STL
- model.config
- model.sdf
- model.STL
- model.config
- model.sdf
- model.STL
- model.config
- model.sdf
- workbench.STL
- model.config
- model.sdf
- model.STL
- model.config
- model.sdf
- model.STL
- model.config
- model.sdf
- dataFile.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dataFile.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dataFile.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dataFile.txt
- dataFile_joint1.txt
- dataFile_joint2.txt
- dataFile_joint3.txt
- dataFile_joint4.txt
- dataFile_joint5.txt
- dataFile_joint6.txt
- dataFile_joints.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dataFile.txt
- dataFile_joint1.txt
- dataFile_joint2.txt
- dataFile_joint3.txt
- dataFile_joint4.txt
- dataFile_joint5.txt
- dataFile_joint6.txt
- dataFile_joints.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dataFile.txt
- dataFile_joint1.txt
- dataFile_joint2.txt
- dataFile_joint3.txt
- dataFile_joint4.txt
- dataFile_joint5.txt
- dataFile_joint6.txt
- dataFile_joints.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dataFile.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dmp_dataFile_rx.txt
- dmp_dataFile_ry.txt
- dmp_dataFile_rz.txt
- dmp_dataFile_x.txt
- dmp_dataFile_y.txt
- dmp_dataFile_z.txt
- dataFile.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dmp_dataFile_rx.txt
- dmp_dataFile_ry.txt
- dmp_dataFile_rz.txt
- dmp_dataFile_x.txt
- dmp_dataFile_y.txt
- dmp_dataFile_z.txt
- dataFile.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dmp_dataFile_rx.txt
- dmp_dataFile_ry.txt
- dmp_dataFile_rz.txt
- dmp_dataFile_x.txt
- dmp_dataFile_y.txt
- dmp_dataFile_z.txt
- dataFile.txt
- dataFile_joint1.txt
- dataFile_joint2.txt
- dataFile_joint3.txt
- dataFile_joint4.txt
- dataFile_joint5.txt
- dataFile_joint6.txt
- dataFile_joints.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dmp_dataFile_joint1.txt
- dmp_dataFile_joint2.txt
- dmp_dataFile_joint3.txt
- dmp_dataFile_joint4.txt
- dmp_dataFile_joint5.txt
- dmp_dataFile_joint6.txt
- dmp_dataFile_joints.txt
- dmp_dataFile_rx.txt
- dmp_dataFile_ry.txt
- dmp_dataFile_rz.txt
- dmp_dataFile_x.txt
- dmp_dataFile_y.txt
- dmp_dataFile_z.txt
- dataFile.txt
- dataFile_joint1.txt
- dataFile_joint2.txt
- dataFile_joint3.txt
- dataFile_joint4.txt
- dataFile_joint5.txt
- dataFile_joint6.txt
- dataFile_joints.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dmp_dataFile_joint1.txt
- dmp_dataFile_joint2.txt
- dmp_dataFile_joint3.txt
- dmp_dataFile_joint4.txt
- dmp_dataFile_joint5.txt
- dmp_dataFile_joint6.txt
- dmp_dataFile_joints.txt
- dmp_dataFile_rx.txt
- dmp_dataFile_ry.txt
- dmp_dataFile_rz.txt
- dmp_dataFile_x.txt
- dmp_dataFile_y.txt
- dmp_dataFile_z.txt
- dataFile.txt
- dataFile_joint1.txt
- dataFile_joint2.txt
- dataFile_joint3.txt
- dataFile_joint4.txt
- dataFile_joint5.txt
- dataFile_joint6.txt
- dataFile_joints.txt
- dataFile_rx.txt
- dataFile_ry.txt
- dataFile_rz.txt
- dataFile_x.txt
- dataFile_y.txt
- dataFile_z.txt
- dmp_dataFile_joint1.txt
- dmp_dataFile_joint2.txt
- dmp_dataFile_joint3.txt
- dmp_dataFile_joint4.txt
- dmp_dataFile_joint5.txt
- dmp_dataFile_joint6.txt
- dmp_dataFile_joints.txt
- dmp_dataFile_rx.txt
- dmp_dataFile_ry.txt
- dmp_dataFile_rz.txt
- dmp_dataFile_x.txt
- dmp_dataFile_y.txt
- dmp_dataFile_z.txt
- dmp.py
- mergetxt.py
- plot_3d.py
- plot_track.py
- base.csv
- base.urdf
- camera.urdf
- cap.urdf
- shaft.urdf
- toolMount.urdf
- workbench.urdf
- ur_assemble.world
- ur_assemble_griper.world
- CMakeLists.txt
- package.xml
- track_data.tar.gz
- view_robot.rviz
- ur10_upload.launch
- ur3_upload.launch
- ur5_upload.launch
- view_ur10.launch
- view_ur3.launch
- view_ur5.launch
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- base.STL
- camera.STL
- cap.STL
- shaft.STL
- toolMount.STL
- workbench.STL
- common.gazebo.xacro
- ur.gazebo.xacro
- ur.transmission.xacro
- ur10.urdf.xacro
- ur10_joint_limited_robot.urdf.xacro
- ur10_robot.urdf.xacro
- ur3.urdf.xacro
- ur3_joint_limited_robot.urdf.xacro
- ur3_robot.urdf
- ur3_robot.urdf.xacro
- ur3_robot_gripper.urdf
- ur5.urdf.xacro
- ur5_joint_limited_robot.urdf.xacro
- ur5_robot.urdf.xacro
- CHANGELOG.rst
- CMakeLists.txt
- model.pdf
- package.xml
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- ur5.urdf
- robotiq_85.rviz
- display_robotiq85.launch
- robotiq_85_base_link.stl
- robotiq_85_finger_link.stl
- robotiq_85_finger_tip_link.stl
- robotiq_85_inner_knuckle_link.stl
- robotiq_85_knuckle_link.stl
- robotiq_85_base_link.dae
- robotiq_85_finger_link.dae
- robotiq_85_finger_tip_link.dae
- robotiq_85_inner_knuckle_link.dae
- robotiq_85_knuckle_link.dae
- robotiq_85_coupler.stl
- robotiq_85_gripper.transmission.xacro
- robotiq_85_gripper.urdf.xacro
- robotiq_85_gripper.xacro
- robotiq_85_gripper_sim_base.urdf.xacro
- CMakeLists.txt
- package.xml
- joint_names_shaft.yaml
- display.launch
- gazebo.launch
- base_link.STL
- shaft.csv
- shaft.urdf
- CMakeLists.txt
- package.xml
- ur5.rviz
- display.launch
- display_with_gripper.launch
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- common.gazebo.xacro
- ur.gazebo.xacro
- ur.transmission.xacro
- ur5.urdf.xacro
- ur5_gripper.urdf
- ur5_joint_limited_robot.urdf
- ur5_joint_limited_robot.urdf.xacro
- ur5_robot.urdf.xacro
- ur5_robotiq85_gripper.urdf.xacro
- CMakeLists.txt
- package.xml
- ur5_gripper.urdf
- ur5_gripper_assembly.urdf
- ur5_gripper_origin.urdf
- ur5_gripper_shaft.urdf
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- base.stl
- forearm.stl
- shoulder.stl
- upperarm.stl
- wrist1.stl
- wrist2.stl
- wrist3.stl
- base.dae
- forearm.dae
- shoulder.dae
- upperarm.dae
- wrist1.dae
- wrist2.dae
- wrist3.dae
- base.STL
- camera.STL
- cap.STL
- shaft.STL
- toolMount.STL
- workbench.STL
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- ur5e.urdf
- anymal_base.dae
- anymal_base.mtl
- anymal_base.obj
- anymal_foot.dae
- anymal_foot.mtl
- anymal_foot.obj
- anymal_hip_l.dae
- anymal_hip_l.mtl
- anymal_hip_l.obj
- anymal_hip_r.dae
- anymal_hip_r.mtl
- anymal_hip_r.obj
- anymal_shank_l.dae
- anymal_shank_l.mtl
- anymal_shank_l.obj
- anymal_shank_r.dae
- anymal_shank_r.mtl
- anymal_shank_r.obj
- anymal_thigh_l.dae
- anymal_thigh_l.mtl
- anymal_thigh_l.obj
- anymal_thigh_r.dae
- anymal_thigh_r.mtl
- anymal_thigh_r.obj
- base_uv_texture.jpg
- carbon_uv_texture.jpg
- anymal.urdf
- LICENSE
- base.dae
- base.jpg
- battery.dae
- battery.jpg
- bottom_shell.dae
- bottom_shell.jpg
- depth_camera.dae
- depth_camera.jpg
- drive.dae
- drive.jpg
- face.dae
- face.jpg
- foot.dae
- foot.jpg
- handle.dae
- handle.jpg
- hatch.dae
- hatch.jpg
- hip.jpg
- hip_l.dae
- hip_r.dae
- lidar.dae
- lidar.jpg
- lidar_cage.dae
- lidar_cage.jpg
- remote.dae
- remote.jpg
- shank.jpg
- shank_l.dae
- shank_r.dae
- thigh.dae
- thigh.jpg
- top_shell.dae
- top_shell.jpg
- wide_angle_camera.dae
- wide_angle_camera.jpg
- anymal.urdf
- LICENSE
- finger.obj
- finger.stl
- hand.obj
- hand.stl
- link0.obj
- link0.stl
- link1.obj
- link1.stl
- link2.obj
- link2.stl
- link3.obj
- link3.stl
- link4.obj
- link4.stl
- link5.obj
- link5.stl
- link6.obj
- link6.stl
- link7.obj
- link7.stl
- stltoobj.bat
- stltoobj.mlx
- daetoobj.bat
- daetoobj.mlx
- finger.dae
- finger.mtl
- finger.obj
- hand.dae
- hand.mtl
- hand.obj
- link0.dae
- link0.mtl
- link0.obj
- link1.dae
- link1.mtl
- link1.obj
- link2.dae
- link2.mtl
- link2.obj
- link3.dae
- link3.mtl
- link3.obj
- link4.dae
- link4.mtl
- link4.obj
- link5.dae
- link5.mtl
- link5.obj
- link6.dae
- link6.mtl
- link6.obj
- link7.dae
- link7.mtl
- link7.obj
- franka_panda.urdf
- arm.dae
- arm.mtl
- arm.obj
- arm.SLDPRT
- arm.STL
- arm_half_1.dae
- arm_half_1.mtl
- arm_half_1.obj
- arm_half_1.STL
- arm_half_1_smoothed.obj
- arm_half_1_smoothed.obj.mtl
- arm_half_2.dae
- arm_half_2.mtl
- arm_half_2.obj
- arm_half_2.STL
- arm_half_2_smoothed.obj
- arm_half_2_smoothed.obj.mtl
- arm_mico.dae
- arm_mico.mtl
- arm_mico.obj
- arm_mico.STL
- arm_mico_smoothed.obj
- arm_mico_smoothed.obj.mtl
- arm_smoothed.obj
- arm_smoothed.obj.mtl
- base.dae
- base.mtl
- base.obj
- base.STL
- base_smoothed.obj
- base_smoothed.obj.mtl
- bottle.mtl
- bottle.obj
- FB_2.obj
- FB_Internal.OBJ
- FB_UV1.OBJ
- fence.obj
- finger_distal.dae
- finger_distal.mtl
- finger_distal.obj
- finger_distal.STL
- finger_proximal.dae
- finger_proximal.mtl
- finger_proximal.obj
- finger_proximal.STL
- floorDecal.obj
- flooring.obj
- flooring_original.obj
- forearm.dae
- forearm.mtl
- forearm.obj
- forearm.STL
- forearm_mico.dae
- forearm_mico.mtl
- forearm_mico.obj
- forearm_mico.STL
- forearm_smoothed.obj
- frankabase.obj
- glass.mtl
- glass.obj
- hand_2finger.dae
- hand_2finger.mtl
- hand_2finger.obj
- hand_2finger.STL
- hand_3finger.dae
- hand_3finger.mtl
- hand_3finger.obj
- hand_3finger.STL
- hand_3finger_smoothed.obj
- hand_3finger_smoothed.obj.mtl
- ring_big.mtl
- ring_big.obj
- ring_big.STL
- ring_big_smoothed.obj
- ring_small.mtl
- ring_small.obj
- ring_small.STL
- ring_small_smoothed.obj
- shoulder.dae
- shoulder.mtl
- shoulder.obj
- shoulder.STL
- shoulder_smoothed.obj
- SM_Fence_A_05_2.obj
- SM_Fence_A_05_Internal.OBJ
- SM_Fence_A_05_UV1.OBJ
- SM_FloorDecal_RecWarn2x4_Internal.OBJ
- SM_FloorDecal_RecWarn2x4_UV1.OBJ
- SM_RackTable_01.OBJ
- SM_RackTable_01_Internal.OBJ
- SM_RackTable_01_UV1.OBJ
- stolic.mtl
- stolic.obj
- tableLegs.obj
- tableTop.obj
- TestFenceExport.obj
- TestFenceExport2.obj
- TestFenceSmoothed.obj
- TestTableExport.obj
- TestTableExport2.obj
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- __init__.py
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- baxter_cabinet_cant_demon.py
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- __init__.py
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- __init__.py
- network.py
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- resmlp.py
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- __init__.py
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- module.py
- sac.py
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- module.py
- sac_her.py
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- sac_hrl.py
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- __init__.py
- config.py
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- process_ppo.py
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- torch_jit_utils.py
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- train.py
- .gitignore
- baxter_isaac_controller.py
- LICENSE
- README.md
// repository documentation
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