├── README.md ├── imgs ├── framework.png ├── share-logo.png └── sjtu.png ├── legged_gym ├── LICENSE ├── __init__.py ├── envs │ ├── __init__.py │ ├── base │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── curriculum.py │ │ └── legged_robot_config.py │ └── h1 │ │ ├── h1.py │ │ ├── h1_config.py │ │ ├── h1interrupt.py │ │ └── h1interrupt_config.py ├── legged_utils │ ├── curriculum.py │ └── observation_buffer.py ├── scripts │ ├── play.py │ └── train.py └── utils │ ├── __init__.py │ ├── helpers.py │ ├── isaacgym_utils.py │ ├── logger.py │ ├── math.py │ ├── task_registry.py │ └── terrain.py ├── resources └── robots │ └── h1 │ ├── meshes │ ├── left_ankle_link.STL │ ├── left_ankle_link_modified.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_ankle_link_modified.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 │ └── urdf │ └── h1.urdf └── rsl_rl ├── LICENSE ├── licenses └── dependencies │ ├── numpy_license.txt │ └── torch_license.txt ├── rsl_rl ├── __init__.py ├── algorithms │ ├── __init__.py │ └── ppo.py ├── env │ ├── __init__.py │ └── vec_env.py ├── modules │ ├── __init__.py │ ├── actor_critic.py │ └── net_model.py ├── runners │ ├── __init__.py │ └── on_policy_runner.py ├── storage │ ├── __init__.py │ └── rollout_storage.py └── utils │ ├── __init__.py │ └── utils.py └── setup.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/apexrl/HugWBC/HEAD/README.md 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