├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── licenses └── dependencies │ └── matplotlib_license.txt ├── resources └── robots │ └── wl │ ├── CMakeLists.txt │ ├── config │ └── joint_names_wheel_legged_open.yaml │ ├── launch │ ├── display.launch │ └── gazebo.launch │ ├── meshes │ ├── base_link.STL │ ├── l_wheel_Link.STL │ ├── lf0_Link.STL │ ├── lf1_Link.STL │ ├── r_wheel_Link.STL │ ├── rf0_Link.STL │ └── rf1_Link.STL │ ├── package.xml │ └── urdf │ ├── wl.csv │ └── wl.urdf ├── setup.py └── wheel_legged_gym ├── __init__.py ├── envs ├── __init__.py ├── base │ ├── base_config.py │ ├── base_task.py │ ├── legged_robot.py │ └── legged_robot_config.py ├── wheel_legged │ └── wheel_legged_config.py ├── wheel_legged_vmc │ ├── wheel_legged_vmc.py │ └── wheel_legged_vmc_config.py └── wheel_legged_vmc_flat │ └── wheel_legged_vmc_flat_config.py ├── rsl_rl ├── __init__.py ├── algorithms │ ├── __init__.py │ └── ppo.py ├── env │ ├── __init__.py │ └── vec_env.py ├── modules │ ├── __init__.py │ ├── actor_critic.py │ ├── actor_critic_recurrent.py │ ├── actor_critic_sequence.py │ └── normalizer.py ├── runners │ ├── __init__.py │ └── on_policy_runner.py ├── storage │ ├── __init__.py │ └── rollout_storage.py └── utils │ ├── __init__.py │ ├── neptune_utils.py │ ├── utils.py │ └── wandb_utils.py ├── scripts ├── play.py └── train.py ├── tests └── test_env.py └── utils ├── __init__.py ├── helpers.py ├── logger.py ├── math.py ├── task_registry.py └── terrain.py /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Wheel-Legged-Gym/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/clearlab-sustech/Wheel-Legged-Gym/HEAD/.gitignore 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