├── .gitignore ├── README.md ├── legged_gym ├── legged_gym │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── base │ │ │ ├── base_config.py │ │ │ ├── base_task.py │ │ │ ├── curriculum.py │ │ │ ├── legged_robot.py │ │ │ └── legged_robot_config.py │ │ └── go1 │ │ │ └── go1_config.py │ ├── scripts │ │ ├── play.py │ │ └── train.py │ └── utils │ │ ├── __init__.py │ │ ├── console.py │ │ ├── helpers.py │ │ ├── logger.py │ │ ├── logger_sim.py │ │ ├── math.py │ │ ├── storage.py │ │ ├── task_registry.py │ │ ├── terrain.py │ │ ├── terrain_parkour │ │ ├── __init__.py │ │ ├── barrier_track.py │ │ ├── perlin.py │ │ └── terrain.py │ │ ├── trimesh.py │ │ ├── webviewer.html │ │ └── webviewer.py ├── resources │ └── robots │ │ └── go1_skate │ │ ├── meshes │ │ ├── calf.dae │ │ ├── calf.stl │ │ ├── depthCamera.dae │ │ ├── hip.dae │ │ ├── hip.stl │ │ ├── l_wheel_Link.STL │ │ ├── r_wheel_Link.STL │ │ ├── thigh.dae │ │ ├── thigh.stl │ │ ├── thigh_mirror.dae │ │ ├── thigh_mirror.stl │ │ ├── trunk.stl │ │ └── ultraSound.dae │ │ └── urdf │ │ ├── go1.urdf │ │ └── skateboard.urdf └── setup.py └── rsl_rl ├── .gitignore ├── LICENSE ├── README.md ├── licenses └── dependencies │ ├── numpy_license.txt │ └── torch_license.txt ├── rsl_rl ├── __init__.py ├── algorithms │ ├── __init__.py │ └── ppo_mlp_hds.py ├── env │ ├── __init__.py │ └── vec_env.py ├── modules │ ├── __init__.py │ ├── actor_critic_hds.py │ ├── cnn1d.py │ └── vae.py ├── runners │ ├── __init__.py │ └── on_policy_runner.py ├── storage │ ├── __init__.py │ └── rollout_storage.py └── utils │ ├── __init__.py │ └── utils.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UMich-CURLY/DHAL/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UMich-CURLY/DHAL/HEAD/README.md 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