├── LICENSE ├── LICENSES ├── legged_gym │ └── LICENSE └── rsl_rl │ └── LICENSE ├── README.md ├── dribblebot ├── __init__.py ├── assets │ ├── __init__.py │ ├── asset.py │ └── ball.py ├── envs │ ├── __init__.py │ ├── base │ │ ├── __init__.py │ │ ├── base_task.py │ │ ├── curriculum.py │ │ ├── legged_robot.py │ │ └── legged_robot_config.py │ ├── go1 │ │ ├── __init__.py │ │ ├── go1_config.py │ │ └── velocity_tracking │ │ │ └── __init__.py │ └── wrappers │ │ └── history_wrapper.py ├── rewards │ ├── rewards.py │ └── soccer_rewards.py ├── robots │ ├── go1.py │ └── robot.py ├── sensors │ ├── __init__.py │ ├── action_sensor.py │ ├── attached_camera_sensor.py │ ├── body_velocity_sensor.py │ ├── clock_sensor.py │ ├── floating_camera_sensor.py │ ├── friction_sensor.py │ ├── heightmap_sensor.py │ ├── joint_position_sensor.py │ ├── joint_velocity_sensor.py │ ├── last_action_sensor.py │ ├── object_sensor.py │ ├── object_velocity_sensor.py │ ├── orientation_sensor.py │ ├── rc_sensor.py │ ├── restitution_sensor.py │ ├── sensor.py │ ├── timing_sensor.py │ └── yaw_sensor.py ├── terrains │ ├── __init__.py │ ├── box_terrain.py │ ├── ground_plane_terrain.py │ ├── heightfield_terrain.py │ ├── terrain.py │ ├── tm_box_terrain.py │ └── trimesh_terrain.py └── utils │ ├── __init__.py │ ├── logger.py │ ├── math_utils.py │ └── terrain.py ├── dribblebot_learn ├── __init__.py ├── env │ ├── __init__.py │ └── vec_env.py ├── eval_metrics │ ├── __init__.py │ ├── domain_randomization.py │ └── metrics.py ├── ppo_cse │ ├── __init__.py │ ├── actor_critic.py │ ├── metrics_caches.py │ ├── ppo.py │ └── rollout_storage.py └── utils │ ├── __init__.py │ └── utils.py ├── resources ├── actuator_nets │ └── unitree_go1.pt ├── objects │ └── ball.urdf ├── robots │ └── go1 │ │ ├── meshes │ │ ├── calf.stl │ │ ├── hip.stl │ │ ├── thigh.stl │ │ ├── thigh_mirror.stl │ │ └── trunk.stl │ │ ├── urdf │ │ └── go1.urdf │ │ └── xml │ │ └── go1.xml └── textures │ ├── background_texture_metal_rust.jpg │ ├── brick_texture.jpg │ ├── grass.jpg │ ├── ice_texture.jpg │ ├── icy_pond.jpg │ ├── metal_wall_iron_fence.jpg │ ├── particle_board_paint_aged.jpg │ ├── pebble_stone_texture_nature.jpg │ ├── snow.jpg │ ├── texture_background_wall_paint_2.jpg │ ├── texture_background_wall_paint_3.jpg │ ├── texture_stone_stone_texture_0.jpg │ ├── texture_wood_brown_1033760.jpg │ ├── tiled_brick_texture.jpg │ ├── tiled_grass.jpg │ ├── tiled_ice_texture.jpg │ ├── tiled_particle_board_paint_aged.jpg │ ├── tiled_pebble_stone_texture_nature.jpg │ ├── tiled_snow.jpg │ ├── tiled_texture_stone_stone_texture_0.jpg │ ├── tiled_texture_wood_brown_1033760.jpg │ └── tiling_util.py ├── runs └── improbableailab │ └── dribbling │ └── bvggoq26 │ └── dribbling_pretrained │ ├── ac_weights.pt │ ├── adaptation_module.jit │ ├── body.jit │ └── config.yaml ├── scripts ├── __init__.py ├── actuator_net │ ├── __init__.py │ ├── eval.py │ ├── train.py │ └── utils.py ├── config.yaml ├── loading_utils.py ├── play_dribbling_custom.py ├── 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