├── .gitignore ├── .vscode ├── extensions.json ├── launch.json └── settings.json ├── LICENSE.txt ├── README.md ├── docker ├── run_docker.sh └── run_docker_viewer.sh ├── docs ├── domain_randomization.md ├── framework.md ├── instanceable_assets.md ├── media │ ├── JointAPI.png │ ├── KinematicTree.png │ └── RigidBodyAPI.png ├── release_notes.md ├── reproducibility.md ├── rl_examples.md ├── transfering_policies_from_isaac_gym.md └── troubleshoot.md ├── omniisaacgymenvs ├── __init__.py ├── cfg │ ├── config.yaml │ ├── task │ │ ├── A1.yaml │ │ ├── A1Terrain.yaml │ │ ├── AllegroHand.yaml │ │ ├── Ant.yaml │ │ ├── AntSAC.yaml │ │ ├── Anymal.yaml │ │ ├── AnymalTerrain.yaml │ │ ├── B1.yaml │ │ ├── B1Terrain.yaml │ │ ├── BallBalance.yaml │ │ ├── Cartpole.yaml │ │ ├── Crazyflie.yaml │ │ ├── FactoryBase.yaml │ │ ├── FactoryEnvNutBolt.yaml │ │ ├── FactoryTaskNutBoltPick.yaml │ │ ├── FrankaCabinet.yaml │ │ ├── Go1.yaml │ │ ├── Go1Terrain.yaml │ │ ├── Humanoid.yaml │ │ ├── HumanoidSAC.yaml │ │ ├── Ingenuity.yaml │ │ ├── Minicheetah.yaml │ │ ├── MinicheetahTerrain.yaml │ │ ├── Quadcopter.yaml │ │ ├── ShadowHand.yaml │ │ ├── ShadowHandOpenAI_FF.yaml │ │ ├── ShadowHandOpenAI_LSTM.yaml │ │ ├── Spot.yaml │ │ ├── SpotTerrain.yaml │ │ ├── Spotmicroai.yaml │ │ └── SpotmicroaiTerrain.yaml │ └── train │ │ ├── A1PPO.yaml │ │ ├── A1TerrainPPO.yaml │ │ ├── AllegroHandPPO.yaml │ │ ├── AntPPO.yaml │ │ ├── AntSAC.yaml │ │ ├── AnymalPPO.yaml │ │ ├── AnymalTerrainPPO.yaml │ │ ├── B1PPO.yaml │ │ ├── B1TerrainPPO.yaml │ │ ├── BallBalancePPO.yaml │ │ ├── CartpolePPO.yaml │ │ ├── CrazyfliePPO.yaml │ │ ├── FactoryTaskNutBoltPickPPO.yaml │ │ ├── FrankaCabinetPPO.yaml │ │ ├── Go1PPO.yaml │ │ ├── Go1TerrainPPO.yaml │ │ ├── HumanoidPPO.yaml │ │ ├── HumanoidSAC.yaml │ │ ├── IngenuityPPO.yaml │ │ ├── MinicheetahPPO.yaml │ │ ├── MinicheetahTerrainPPO.yaml │ │ ├── QuadcopterPPO.yaml │ │ ├── ShadowHandOpenAI_FFPPO.yaml │ │ ├── ShadowHandOpenAI_LSTMPPO.yaml │ │ ├── ShadowHandPPO.yaml │ │ ├── SpotPPO.yaml │ │ ├── SpotTerrainPPO.yaml │ │ ├── SpotmicroaiPPO.yaml │ │ └── SpotmicroaiTerrainPPO.yaml ├── demos │ ├── a1_terrain.py │ ├── anymal_terrain.py │ ├── b1_terrain.py │ ├── go1_terrain.py │ ├── minicheetah_terrain.py │ ├── spot_terrain.py │ └── spotmicroai_terrain.py ├── envs │ ├── __init__.py │ ├── vec_env_rlgames.py │ └── vec_env_rlgames_mt.py ├── robots │ └── articulations │ │ ├── __init__.py │ │ ├── a1.py │ │ ├── allegro_hand.py │ │ ├── ant.py │ │ ├── anymal.py │ │ ├── b1.py │ │ ├── balance_bot.py │ │ ├── cabinet.py │ │ ├── cartpole.py │ │ ├── crazyflie.py │ │ ├── factory_franka.py │ │ ├── franka.py │ │ ├── go1.py │ │ ├── humanoid.py │ │ ├── ingenuity.py │ │ ├── minicheetah.py │ │ ├── quadcopter.py │ │ ├── shadow_hand.py │ │ ├── spot.py │ │ ├── spotmicroai.py │ │ └── views │ │ ├── __init__.py │ │ ├── a1_view.py │ │ ├── allegro_hand_view.py │ │ ├── anymal_view.py │ │ ├── b1_view.py │ │ ├── cabinet_view.py │ │ ├── crazyflie_view.py │ │ ├── factory_franka_view.py │ │ ├── franka_view.py │ │ ├── go1_view.py │ │ ├── ingenuity_view.py │ │ ├── minicheetah_view.py │ │ ├── quadcopter_view.py │ │ ├── shadow_hand_view.py │ │ ├── spot_view.py │ │ └── spotmicroai_view.py ├── scripts │ ├── random_policy.py │ ├── rlgames_demo.py │ ├── rlgames_train.py │ └── rlgames_train_mt.py ├── tasks │ ├── __init__.py │ ├── a1.py │ ├── a1_terrain.py │ ├── allegro_hand.py │ ├── ant.py │ ├── anymal.py │ ├── anymal_terrain.py │ ├── b1.py │ ├── b1_terrain.py │ ├── ball_balance.py │ ├── base │ │ └── rl_task.py │ ├── cartpole.py │ ├── crazyflie.py │ ├── factory │ │ ├── factory_base.py │ │ ├── factory_control.py │ │ ├── factory_env_nut_bolt.py │ │ ├── factory_schema_class_base.py │ │ ├── factory_schema_class_env.py │ │ ├── factory_schema_class_task.py │ │ ├── factory_schema_config_base.py │ │ ├── factory_schema_config_env.py │ │ ├── factory_schema_config_task.py │ │ ├── factory_task_nut_bolt_pick.py │ │ └── yaml │ │ │ ├── factory_asset_info_franka_table.yaml │ │ │ └── factory_asset_info_nut_bolt.yaml │ ├── franka_cabinet.py │ ├── go1.py │ ├── go1_terrain.py │ ├── humanoid.py │ ├── ingenuity.py │ ├── minicheetah.py │ ├── minicheetah_terrain.py │ ├── quadcopter.py │ ├── shadow_hand.py │ ├── shared │ │ ├── __init__.py │ │ ├── in_hand_manipulation.py │ │ └── locomotion.py │ ├── spot.py │ ├── spot_terrain.py │ ├── spotmicroai.py │ ├── spotmicroai_terrain.py │ └── utils │ │ ├── anymal_terrain_generator.py │ │ └── usd_utils.py └── utils │ ├── config_utils │ ├── default_scene_params.py │ ├── path_utils.py │ └── sim_config.py │ ├── demo_util.py │ ├── domain_randomization │ └── randomize.py │ ├── hydra_cfg │ ├── hydra_utils.py │ └── reformat.py │ ├── rlgames │ └── rlgames_utils.py │ ├── task_util.py │ ├── terrain_utils │ ├── create_terrain_demo.py │ └── terrain_utils.py │ └── usd_utils │ └── create_instanceable_assets.py ├── setup.py └── terraform ├── README.md ├── debugging_notes.md ├── isaac-sim-oige-v2.sh ├── isaac-sim-oige.sh ├── list_of_amis.md ├── main.tf ├── sample.auto.tfvars └── 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