├── .gitignore ├── README.md ├── legged_gym ├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── legged_gym │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── a1 │ │ │ └── a1_config.py │ │ ├── anymal_b │ │ │ └── anymal_b_config.py │ │ ├── anymal_c │ │ │ ├── anymal.py │ │ │ ├── flat │ │ │ │ └── anymal_c_flat_config.py │ │ │ └── mixed_terrains │ │ │ │ └── anymal_c_rough_config.py │ │ ├── base │ │ │ ├── base_config.py │ │ │ ├── base_task.py │ │ │ ├── legged_robot.py │ │ │ └── legged_robot_config.py │ │ ├── cassie │ │ │ ├── cassie.py │ │ │ └── cassie_config.py │ │ └── go1 │ │ │ └── go1_config.py │ ├── scripts │ │ ├── play.py │ │ └── train.py │ ├── tests │ │ └── test_env.py │ └── utils │ │ ├── __init__.py │ │ ├── helpers.py │ │ ├── logger.py │ │ ├── math.py │ │ ├── task_registry.py │ │ └── terrain.py ├── licenses │ ├── assets │ │ ├── ANYmal_b_license.txt │ │ ├── ANYmal_c_license.txt │ │ ├── a1_license.txt │ │ └── cassie_license.txt │ └── dependencies │ │ └── matplotlib_license.txt ├── resources │ ├── actuator_nets │ │ └── anydrive_v3_lstm.pt │ └── robots │ │ ├── a1 │ │ ├── a1_license.txt │ │ ├── meshes │ │ │ ├── calf.dae │ │ │ ├── hip.dae │ │ │ ├── thigh.dae │ │ │ ├── thigh_mirror.dae │ │ │ ├── trunk.dae │ │ │ └── trunk_A1.png │ │ └── urdf │ │ │ └── a1.urdf │ │ ├── anymal_b │ │ ├── ANYmal_b_license.txt │ │ ├── meshes │ │ │ ├── anymal_base.dae │ │ │ ├── anymal_foot.dae │ │ │ ├── anymal_hip_l.dae │ │ │ ├── anymal_hip_r.dae │ │ │ ├── anymal_shank_l.dae │ │ │ ├── anymal_shank_r.dae │ │ │ ├── anymal_thigh_l.dae │ │ │ ├── anymal_thigh_r.dae │ │ │ ├── base_uv_texture.jpg │ │ │ └── carbon_uv_texture.jpg │ │ └── urdf │ │ │ └── anymal_b.urdf │ │ ├── anymal_c │ │ ├── ANYmal_c_license.txt │ │ ├── meshes │ │ │ ├── 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 │ │ └── urdf │ │ │ └── anymal_c.urdf │ │ ├── cassie │ │ ├── cassie_license.txt │ │ ├── meshes │ │ │ ├── abduction.stl │ │ │ ├── abduction_mirror.stl │ │ │ ├── achilles-rod.stl │ │ │ ├── hip.stl │ │ │ ├── hip_mirror.stl │ │ │ ├── knee-output.stl │ │ │ ├── knee-output_mirror.stl │ │ │ ├── pelvis.stl │ │ │ ├── plantar-rod.stl │ │ │ ├── shin-bone.stl │ │ │ ├── shin-bone_mirror.stl │ │ │ ├── tarsus.stl │ │ │ ├── tarsus_mirror.stl │ │ │ ├── thigh.stl │ │ │ ├── thigh_mirror.stl │ │ │ ├── toe-output-crank.stl │ │ │ ├── toe.stl │ │ │ ├── toe_mirror.stl │ │ │ ├── torso.stl │ │ │ ├── yaw.stl │ │ │ └── yaw_mirror.stl │ │ └── urdf │ │ │ └── cassie.urdf │ │ └── go1 │ │ ├── meshes │ │ ├── calf.stl │ │ ├── hip.stl │ │ ├── thigh.stl │ │ ├── thigh_mirror.stl │ │ └── trunk.stl │ │ └── urdf │ │ └── go1.urdf ├── result │ ├── accuracy.txt │ ├── agility.txt │ └── stability.txt ├── setup.py ├── test.sh └── training.sh └── rsl_rl ├── .gitignore ├── LICENSE ├── README.md ├── licenses └── dependencies │ ├── numpy_license.txt │ └── torch_license.txt ├── rsl_rl ├── __init__.py ├── algorithms │ ├── __init__.py │ └── ppo.py ├── env │ ├── __init__.py │ └── vec_env.py ├── modules │ ├── __init__.py │ ├── actor_critic.py │ └── actor_critic_recurrent.py ├── runners │ ├── __init__.py │ └── on_policy_runner.py ├── storage │ ├── __init__.py │ └── rollout_storage.py └── utils │ ├── __init__.py │ └── utils.py └── setup.py /.gitignore: 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