├── .gitattributes ├── .github └── ISSUE_TEMPLATE │ └── bug_report.md ├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── legged_gym ├── __init__.py ├── envs │ ├── __init__.py │ ├── a1 │ │ └── a1_config.py │ ├── aliengo │ │ ├── aliengo.py │ │ ├── aliengoNav.py │ │ ├── flat │ │ │ └── aliengo_flat_config.py │ │ └── mixed_terrains │ │ │ ├── aliengo_lbc_config.py │ │ │ ├── aliengo_nav_config.py │ │ │ ├── aliengo_obs_config.py │ │ │ └── aliengo_rough_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 │ │ ├── aliengo_base_config.py │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── legged_robot.py │ │ ├── legged_robot_config.py │ │ └── legged_robot_nav.py │ └── cassie │ │ ├── cassie.py │ │ └── cassie_config.py ├── lbc │ ├── algorithms │ │ ├── lbc.py │ │ └── lbc_storage.py │ ├── lbc_runner.py │ └── models │ │ └── actor_encoder_lbc.py ├── scripts │ ├── lbc.py │ ├── play.py │ └── train.py ├── tests │ └── test_env.py └── utils │ ├── __init__.py │ ├── helpers.py │ ├── logger.py │ ├── math.py │ ├── task_registry.py │ ├── terrain.py │ └── terrain_utils.py ├── licenses ├── assets │ ├── ANYmal_b_license.txt │ ├── ANYmal_c_license.txt │ ├── a1_license.txt │ └── cassie_license.txt └── dependencies │ └── matplotlib_license.txt ├── requirements.txt ├── resources ├── actuator_nets │ └── anydrive_v3_lstm.pt ├── maps │ ├── Adrian_0.png │ ├── Adrian_1.png │ ├── Anaheim_1.png │ ├── Woonsocket_0.png │ └── map1.png ├── readme │ └── CatAndMimic.png └── robots │ ├── a1 │ ├── a1_license.txt │ ├── meshes │ │ ├── calf.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ ├── thigh_mirror.dae │ │ ├── trunk.dae │ │ └── trunk_A1.png │ └── urdf │ │ └── a1.urdf │ ├── aliengo │ ├── meshes │ │ ├── calf.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ ├── thigh_mirror.dae │ │ ├── trunk.dae │ │ └── trunk_uv_base_final.png │ └── urdf │ │ └── aliengo.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 ├── scripts ├── eval_main.sh ├── eval_obs.sh ├── eval_rough.sh └── parse_eval.py ├── setup.py └── setup.sh /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SimarKareer/ViNL/HEAD/.gitattributes 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