├── .gitattributes ├── .github └── ISSUE_TEMPLATE │ └── bug_report.md ├── .gitignore ├── LICENSE ├── README.md ├── comd.txt ├── install.sh ├── 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 │ ├── pointfoot │ │ ├── flat │ │ │ └── pointfoot_flat_config.py │ │ ├── mixed_terrain │ │ │ └── pointfoot_rough_config.py │ │ └── point_foot.py │ └── tita_pointfoot │ │ ├── flat │ │ └── tita_pointfoot_flat_config.py │ │ ├── mixed_terrain │ │ └── tita_pointfoot_rough_config.py │ │ └── tita_point_foot.py ├── scripts │ ├── export_policy_as_onnx.py │ ├── play.py │ ├── text_onnx.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 │ ├── pointfoot │ ├── PF_P441A │ │ ├── meshes │ │ │ ├── abad_L_Link.STL │ │ │ ├── abad_R_Link.STL │ │ │ ├── base_Link.STL │ │ │ ├── foot_L_Link.STL │ │ │ ├── foot_R_Link.STL │ │ │ ├── hip_L_Link.STL │ │ │ ├── hip_R_Link.STL │ │ │ ├── knee_L_Link.STL │ │ │ └── knee_R_Link.STL │ │ └── urdf │ │ │ └── robot.urdf │ ├── PF_P441B │ │ ├── meshes │ │ │ ├── abad_L_Link.STL │ │ │ ├── abad_R_Link.STL │ │ │ ├── base_Link.STL │ │ │ ├── foot_L_Link.STL │ │ │ ├── foot_R_Link.STL │ │ │ ├── hip_L_Link.STL │ │ │ ├── hip_R_Link.STL │ │ │ ├── knee_L_Link.STL │ │ │ └── knee_R_Link.STL │ │ └── urdf │ │ │ └── robot.urdf │ ├── PF_P441C │ │ ├── meshes │ │ │ ├── abad_L_Link.STL │ │ │ ├── abad_R_Link.STL │ │ │ ├── base_Link.STL │ │ │ ├── foot_L_Link.STL │ │ │ ├── foot_R_Link.STL │ │ │ ├── hip_L_Link.STL │ │ │ ├── hip_R_Link.STL │ │ │ ├── knee_L_Link.STL │ │ │ └── knee_R_Link.STL │ │ └── urdf │ │ │ └── robot.urdf │ └── PF_P441C2 │ │ ├── meshes │ │ ├── abad_L_Link.STL │ │ ├── abad_R_Link.STL │ │ ├── base_Link.STL │ │ ├── foot_L_Link.STL │ │ ├── foot_R_Link.STL │ │ ├── hip_L_Link.STL │ │ ├── hip_R_Link.STL │ │ ├── knee_L_Link.STL │ │ └── knee_R_Link.STL │ │ └── urdf │ │ ├── point_foot.gv │ │ ├── point_foot.pdf │ │ └── robot.urdf │ └── tita_pointfoot │ ├── pointfoot_1 │ ├── meshes │ │ ├── base_link.STL │ │ ├── foot_L_Link.STL │ │ ├── foot_R_Link.STL │ │ ├── left_leg_1.STL │ │ ├── left_leg_2.STL │ │ ├── left_leg_3.STL │ │ ├── left_leg_4.STL │ │ ├── right_leg_1.STL │ │ ├── right_leg_2.STL │ │ ├── right_leg_3.STL │ │ └── right_leg_4.STL │ └── urdf │ │ ├── tita_description.urdf │ │ ├── tita_ros2_control.gv │ │ └── tita_ros2_control.pdf │ └── pointfoot_2 │ ├── meshes │ ├── base_link.STL │ ├── foot_L_Link.STL │ ├── foot_R_Link.STL │ ├── 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