├── .gitignore ├── LICENSE ├── README.md ├── assets ├── genesis_genesis.gif ├── genesis_isaacgym.gif ├── genesis_test.gif ├── humanoidverse-logo-crop-png.png ├── isaacgym_genesis.gif ├── isaacgym_issacgym.gif ├── isaacgym_test.gif ├── isaacsim_genesis.gif ├── isaacsim_isaacsim.gif └── isaacsim_test.gif ├── humanoidverse ├── __init__.py ├── agents │ ├── __init__.py │ ├── base_algo │ │ └── base_algo.py │ ├── callbacks │ │ ├── __init__.py │ │ ├── analysis_plot_locomotion.py │ │ ├── analysis_plot_template.html │ │ └── base_callback.py │ ├── modules │ │ ├── __init__.py │ │ ├── data_utils.py │ │ ├── modules.py │ │ └── ppo_modules.py │ └── ppo │ │ └── ppo.py ├── config │ ├── algo │ │ └── ppo.yaml │ ├── base.yaml │ ├── base │ │ ├── hydra.yaml │ │ └── structure.yaml │ ├── base_eval.yaml │ ├── domain_rand │ │ ├── NO_domain_rand.yaml │ │ └── domain_rand_base.yaml │ ├── env │ │ ├── base_task.yaml │ │ ├── legged_base.yaml │ │ └── locomotion.yaml │ ├── exp │ │ ├── base_exp.yaml │ │ ├── legged_base.yaml │ │ └── locomotion.yaml │ ├── obs │ │ ├── legged_obs.yaml │ │ └── loco │ │ │ ├── leggedloco_obs_history_wolinvel.yaml │ │ │ ├── leggedloco_obs_singlestep_withlinvel.yaml │ │ │ ├── leggedloco_obs_singlestep_wolinvel.yaml │ │ │ └── leggedloco_obs_singlestep_wolinvel_a2c.yaml │ ├── opt │ │ └── wandb.yaml │ ├── rewards │ │ └── loco │ │ │ ├── reward_g1_12dof_locomotion.yaml │ │ │ ├── reward_g1_23dof_locomotion.yaml │ │ │ └── reward_h1_locomotion.yaml │ ├── robot │ │ ├── g1 │ │ │ ├── g1_12dof.yaml │ │ │ └── g1_29dof.yaml │ │ ├── h1 │ │ │ ├── h1.yaml │ │ │ └── h1_10dof.yaml │ │ └── robot_base.yaml │ ├── simulator │ │ ├── genesis.yaml │ │ ├── isaacgym.yaml │ │ └── isaacsim.yaml │ └── terrain │ │ ├── terrain_base.yaml │ │ ├── terrain_locomotion.yaml │ │ └── terrain_locomotion_plane.yaml ├── data │ └── robots │ │ ├── g1 │ │ ├── g1_12dof.urdf │ │ ├── g1_12dof.usd │ │ ├── g1_29dof.urdf │ │ ├── g1_29dof.usd │ │ ├── g1_29dof.xml │ │ └── meshes │ │ │ ├── head_link.STL │ │ │ ├── left_ankle_pitch_link.STL │ │ │ ├── left_ankle_roll_link.STL │ │ │ ├── left_elbow_link.STL │ │ │ ├── left_hand_index_0_link.STL │ │ │ ├── left_hand_index_1_link.STL │ │ │ ├── left_hand_middle_0_link.STL │ │ │ ├── left_hand_middle_1_link.STL │ │ │ ├── left_hand_palm_link.STL │ │ │ ├── left_hand_thumb_0_link.STL │ │ │ ├── left_hand_thumb_1_link.STL │ │ │ ├── left_hand_thumb_2_link.STL │ │ │ ├── left_hip_pitch_link.STL │ │ │ ├── left_hip_roll_link.STL │ │ │ ├── left_hip_yaw_link.STL │ │ │ ├── left_knee_link.STL │ │ │ ├── left_rubber_hand.STL │ │ │ ├── left_shoulder_pitch_link.STL │ │ │ ├── left_shoulder_roll_link.STL │ │ │ ├── left_shoulder_yaw_link.STL │ │ │ ├── left_wrist_pitch_link.STL │ │ │ ├── left_wrist_roll_link.STL │ │ │ ├── left_wrist_roll_rubber_hand.STL │ │ │ ├── left_wrist_yaw_link.STL │ │ │ ├── logo_link.STL │ │ │ ├── pelvis.STL │ │ │ ├── pelvis_contour_link.STL │ │ │ ├── right_ankle_pitch_link.STL │ │ │ ├── right_ankle_roll_link.STL │ │ │ ├── right_elbow_link.STL │ │ │ ├── right_hand_index_0_link.STL │ │ │ ├── right_hand_index_1_link.STL │ │ │ ├── right_hand_middle_0_link.STL │ │ │ ├── right_hand_middle_1_link.STL │ │ │ ├── right_hand_palm_link.STL │ │ │ ├── right_hand_thumb_0_link.STL │ │ │ ├── right_hand_thumb_1_link.STL │ │ │ ├── right_hand_thumb_2_link.STL │ │ │ ├── right_hip_pitch_link.STL │ │ │ ├── right_hip_roll_link.STL │ │ │ ├── right_hip_yaw_link.STL │ │ │ ├── right_knee_link.STL │ │ │ ├── right_rubber_hand.STL │ │ │ ├── right_shoulder_pitch_link.STL │ │ │ ├── right_shoulder_roll_link.STL │ │ │ ├── right_shoulder_yaw_link.STL │ │ │ ├── right_wrist_pitch_link.STL │ │ │ ├── right_wrist_roll_link.STL │ │ │ ├── right_wrist_roll_rubber_hand.STL │ │ │ ├── right_wrist_yaw_link.STL │ │ │ ├── torso_constraint_L_link.STL │ │ │ ├── torso_constraint_L_rod_link.STL │ │ │ ├── torso_constraint_R_link.STL │ │ │ ├── torso_constraint_R_rod_link.STL │ │ │ ├── torso_link.STL │ │ │ ├── waist_constraint_L.STL │ │ │ ├── waist_constraint_R.STL │ │ │ ├── waist_roll_link.STL │ │ │ ├── waist_support_link.STL │ │ │ └── waist_yaw_link.STL │ │ └── h1 │ │ ├── h1.urdf │ │ ├── h1.usd │ │ ├── h1.xml │ │ ├── h1_10dof.urdf │ │ ├── h1_10dof.usd │ │ └── meshes │ │ ├── left_ankle_link.STL │ │ ├── left_elbow_link.STL │ │ ├── left_hip_pitch_link.STL │ │ ├── left_hip_roll_link.STL │ │ ├── left_hip_yaw_link.STL │ │ ├── left_knee_link.STL │ │ ├── left_shoulder_pitch_link.STL │ │ ├── left_shoulder_roll_link.STL │ │ ├── left_shoulder_yaw_link.STL │ │ ├── logo_link.STL │ │ ├── pelvis.STL │ │ ├── right_ankle_link.STL │ │ ├── right_elbow_link.STL │ │ ├── right_hip_pitch_link.STL │ │ ├── right_hip_roll_link.STL │ │ ├── right_hip_yaw_link.STL │ │ ├── right_knee_link.STL │ │ ├── right_shoulder_pitch_link.STL │ │ ├── right_shoulder_roll_link.STL │ │ ├── right_shoulder_yaw_link.STL │ │ └── torso_link.STL ├── envs │ ├── __init__.py │ ├── base_task │ │ ├── __init__.py │ │ └── base_task.py │ ├── env_utils │ │ ├── __init__.py │ │ ├── command_generator.py │ │ ├── general.py │ │ ├── history_handler.py │ │ ├── terrain.py │ │ └── visualization.py │ ├── legged_base_task │ │ ├── __init__.py │ │ └── legged_robot_base.py │ └── locomotion │ │ ├── __init__.py │ │ └── locomotion.py ├── eval_agent.py ├── simulator │ ├── base_simulator │ │ └── base_simulator.py │ ├── genesis │ │ ├── genesis.py │ │ ├── genesis_viewer.py │ │ └── tmp_gs_utils.py │ ├── isaacgym │ │ └── isaacgym.py │ └── isaacsim │ │ ├── event_cfg.py │ │ ├── events.py │ │ ├── isaaclab_cfg.py │ │ ├── isaaclab_viewpoint_camera_controller.py │ │ ├── isaacsim.py │ │ └── isaacsim_articulation_cfg.py ├── train_agent.py └── utils │ ├── __init__.py │ ├── average_meters.py │ ├── common.py │ ├── config_utils.py │ ├── helpers.py │ ├── inference_helpers.py │ ├── logging.py │ ├── math.py │ ├── spatial_utils │ ├── __init__.py │ ├── maths.py │ └── rotations.py │ ├── terrain.py │ └── torch_utils.py └── pyproject.toml /.gitignore: -------------------------------------------------------------------------------- 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