├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── Makefile ├── README.md ├── __init__.py ├── data └── command_tracking_flat │ └── final │ ├── full_16200.pt │ ├── mean16200.csv │ └── var16200.csv ├── demo.gif ├── examples ├── CMakeFiles │ ├── CMakeDirectoryInformation.cmake │ ├── anymal_stress_test.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── anymals.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── atlas.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── balls.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── cartPole.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── compound.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── heightMapUsingPng.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── heightmap.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── kinova.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── laikago.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── materialStaticFriction.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── materials.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── meshes.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── mjcf_ant.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── mjcf_cassie.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── mjcf_humanoid.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── newtonsCradle.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── primitives.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── progress.marks │ ├── rayDemo.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── rayDemo2.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── robots.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── speed_test.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── springTest.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── trackedRobotAndTemplatedURDF.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── visualObjects.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── wheeledRobot.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ └── xmlRader.dir │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make ├── Makefile ├── cmake_install.cmake └── rsc │ ├── a1 │ ├── meshes │ │ ├── calf.stl │ │ ├── hip.stl │ │ ├── thigh.stl │ │ ├── thigh_mirror.stl │ │ └── trunk.stl │ └── urdf │ │ └── a1.urdf │ ├── aliengo │ ├── LICENSE │ ├── aliengo.urdf │ └── meshes │ │ ├── calf.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ ├── thigh_mirror.dae │ │ ├── trunk.dae │ │ └── trunk_uv_base_final.png │ ├── anymal │ ├── LICENSE │ ├── 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.urdf │ │ └── anymal_no_collision.urdf │ ├── anymal_c │ ├── LICENSE │ ├── README.md │ ├── 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.urdf │ ├── atlas │ ├── head.dae │ ├── head.stl │ ├── head_camera.stl │ ├── l_clav.stl │ ├── l_farm.stl │ ├── l_foot.stl │ ├── l_hand.stl │ ├── l_larm.stl │ ├── l_lglut.stl │ ├── l_lleg.stl │ ├── l_scap.stl │ ├── l_talus.stl │ ├── l_uarm.stl │ ├── l_uglut.stl │ ├── l_uleg.stl │ ├── ltorso.stl │ ├── mtorso.stl │ ├── pelvis.stl │ ├── r_clav.stl │ ├── r_farm.stl │ ├── r_foot.stl │ ├── r_hand.stl │ ├── r_larm.stl │ ├── r_lglut.stl │ ├── r_lleg.stl │ ├── r_scap.stl │ ├── r_talus.stl │ ├── r_uarm.stl │ ├── r_uglut.stl │ ├── r_uleg.stl │ ├── robot.urdf │ └── utorso.stl │ ├── cartPole │ └── cartpole.urdf │ ├── cassie │ ├── LICENSE │ ├── achilles-rod.stl │ ├── cassie.xml │ ├── foot-crank.stl │ ├── foot.stl │ ├── heel-spring.stl │ ├── hip-pitch.stl │ ├── hip-roll.stl │ ├── hip-yaw.stl │ ├── knee-spring.stl │ ├── knee.stl │ ├── pelvis.stl │ ├── plantar-rod.stl │ ├── shin.stl │ └── tarsus.stl │ ├── chain │ ├── robot.urdf │ ├── robot_limit.urdf │ ├── robot_short.urdf │ ├── robot_springed.urdf │ ├── robot_springed_10.urdf │ ├── robot_springed_20.urdf │ └── robot_springed_30.urdf │ ├── husky │ ├── husky.urdf │ ├── license.txt │ └── meshes │ │ ├── base_link.dae │ │ ├── bumper.dae │ │ ├── large_top_plate.dae │ │ ├── top_chassis.dae │ │ ├── top_plate.dae │ │ ├── user_rail.dae │ │ ├── velodyne.STL │ │ └── wheel.dae │ ├── kinova │ ├── LICENSE │ ├── meshes │ │ ├── arm.SLDPRT │ │ ├── arm.STL │ │ ├── arm.dae │ │ ├── arm_half_1.STL │ │ ├── arm_half_1.dae │ │ ├── arm_half_2.STL │ │ ├── arm_half_2.dae │ │ ├── arm_mico.STL │ │ ├── arm_mico.dae │ │ ├── base.STL │ │ ├── base.dae │ │ ├── carbon_uv_texture.jpg │ │ ├── finger_distal.STL │ │ ├── finger_distal.dae │ │ ├── finger_proximal.STL │ │ ├── finger_proximal.dae │ │ ├── forearm.STL │ │ ├── forearm.dae │ │ ├── forearm_mico.STL │ │ ├── forearm_mico.dae │ │ ├── hand_2finger.STL │ │ ├── hand_2finger.dae │ │ ├── hand_3finger.STL │ │ ├── hand_3finger.dae │ │ ├── ring_big.STL │ │ ├── ring_small.STL │ │ ├── shoulder.STL │ │ ├── shoulder.dae │ │ ├── wrist.STL │ │ ├── wrist.dae │ │ ├── wrist_spherical_1.STL │ │ ├── wrist_spherical_1.dae │ │ ├── wrist_spherical_2.STL │ │ └── wrist_spherical_2.dae │ └── urdf │ │ ├── kinova.urdf │ │ └── kinova_stand.urdf │ ├── laikago.xml │ ├── laikago │ ├── LICENSE │ ├── calf.dae │ ├── default_cfg.yaml │ ├── hip.dae │ ├── laikago.urdf │ ├── thigh.dae │ ├── thigh_mirror.dae │ └── trunk.dae │ ├── laikagoOnHeightMap.xml │ ├── megabot │ └── smb.urdf │ ├── monkey │ ├── LICENSE │ ├── LICENSE.meta │ ├── monkey.obj │ ├── monkey.obj.meta │ └── monkey.obj.mtl │ ├── springDamper │ ├── cartpole.urdf │ └── chainSpringed.urdf │ ├── templatedTrackedRobot │ └── trackedTemplate.urdf │ ├── testMaterials.xml │ └── xmlScripts │ ├── heightMaps │ ├── heightMapExample.txt │ ├── heightMapUsingPng.xml │ ├── heightMapUsingRawValues.xml │ ├── heightMapUsingTerrainGenerator.xml │ ├── heightMapUsingTxt.xml │ └── zurichHeightMap.png │ ├── material │ └── material.xml │ ├── objects │ └── SingleBodies.xml │ └── wire │ └── newtonsCradle.xml ├── raisimGymTorch ├── algo │ ├── __init__.py │ └── ppo │ │ ├── __init__.py │ │ ├── module.py │ │ ├── ppo.py │ │ └── storage.py ├── env │ ├── RaisimGymEnv.hpp │ ├── RaisimGymVecEnv.py │ ├── Reward.hpp │ ├── VectorizedEnvironment.hpp │ ├── Yaml.cpp │ ├── Yaml.hpp │ ├── __init__.py │ ├── bin │ │ ├── .gitignore │ │ └── __init__.py │ ├── debug_app.cpp │ ├── envs │ │ ├── test │ │ │ ├── Environment.hpp │ │ │ ├── cfg.yaml │ │ │ ├── pgn_runner.py │ │ │ └── src_runner.py │ │ └── train │ │ │ ├── Environment.hpp │ │ │ ├── FDM_train.py │ │ │ ├── ITS_train.py │ │ │ ├── action.py │ │ │ ├── cfg.yaml │ │ │ ├── global_planner.py │ │ │ ├── model.py │ │ │ ├── storage.py │ │ │ └── trainer.py │ └── raisim_gym.cpp ├── helper │ ├── __init__.py │ ├── raisim_gym_helper.py │ └── utils_plot.py └── stable_baselines3 │ ├── =1.15 │ ├── RaisimSbGymVecEnv.py │ ├── __init__.py │ └── anymal.py ├── rsc └── anymal_c │ ├── LICENSE │ ├── README.md │ ├── 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 │ ├── 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