├── .gitignore ├── LICENSE ├── README.md ├── dr_eureka ├── cfg │ ├── config.yaml │ ├── config_rapp.yaml │ ├── env │ │ ├── forward_locomotion.yaml │ │ └── globe_walking.yaml │ └── hydra │ │ ├── launcher │ │ └── local.yaml │ │ └── output │ │ └── local.yaml ├── dr_eureka.py ├── prompts │ ├── initial_system.txt │ └── initial_users │ │ ├── forward_locomotion.txt │ │ ├── globe_walking.txt │ │ └── initial_users_template.txt ├── rapp.py └── utils │ ├── create_task.py │ ├── extract_task_code.py │ ├── file_utils.py │ └── misc.py ├── eureka ├── cfg │ ├── config.yaml │ ├── env │ │ ├── forward_locomotion.yaml │ │ └── globe_walking.yaml │ └── hydra │ │ ├── launcher │ │ └── local.yaml │ │ └── output │ │ └── local.yaml ├── envs │ ├── forward_locomotion.py │ └── globe_walking.py ├── eureka.py ├── prompts │ ├── code_feedback.txt │ ├── code_output_tip.txt │ ├── code_output_tip_temp.txt │ ├── execution_error_feedback.txt │ ├── initial_system.txt │ ├── initial_user.txt │ ├── policy_feedback.txt │ └── reward_signatures │ │ ├── forward_locomotion.txt │ │ └── globe_walking.txt └── utils │ ├── extract_task_code.py │ ├── file_utils.py │ └── misc.py ├── forward_locomotion ├── LICENSE ├── LICENSES │ ├── legged_gym │ │ └── LICENSE │ └── rsl_rl │ │ └── LICENSE ├── go1_gym │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── base │ │ │ ├── __init__.py │ │ │ ├── base_task.py │ │ │ ├── curriculum.py │ │ │ ├── legged_robot.py │ │ │ ├── legged_robot_config.py │ │ │ └── legged_robot_config_template.py │ │ ├── go1 │ │ │ ├── __init__.py │ │ │ └── go1_config.py │ │ ├── mini_cheetah │ │ │ ├── __init__.py │ │ │ ├── mini_cheetah_config.py │ │ │ └── velocity_tracking │ │ │ │ ├── __init__.py │ │ │ │ └── velocity_tracking_easy_env.py │ │ └── wrappers │ │ │ └── history_wrapper.py │ ├── rewards │ │ ├── eureka_reward.py │ │ ├── eureka_reward_template.py │ │ └── original_reward.py │ └── utils │ │ ├── __init__.py │ │ ├── math_utils.py │ │ └── terrain.py ├── go1_gym_deploy │ ├── __init__.py │ ├── autostart │ │ ├── start_controller.sh │ │ └── start_unitree_sdk.sh │ ├── docker │ │ ├── Dockerfile │ │ ├── Makefile │ │ ├── unzip_image.sh │ │ └── zip_image.sh │ ├── envs │ │ ├── __init__.py │ │ ├── history_wrapper.py │ │ └── lcm_agent.py │ ├── installer │ │ └── install_deployment_code.sh │ ├── lcm_types │ │ ├── __init__.py │ │ ├── camera_message_lcmt.py │ │ ├── camera_message_rect_wide.py │ │ ├── leg_control_data_lcmt.lcm │ │ ├── leg_control_data_lcmt.py │ │ ├── pd_tau_targets_lcmt.lcm │ │ ├── pd_tau_targets_lcmt.py │ │ ├── rc_command_lcmt.lcm │ │ ├── rc_command_lcmt.py │ │ ├── state_estimator_lcmt.lcm │ │ └── state_estimator_lcmt.py │ ├── scripts │ │ ├── __init__.py │ │ ├── deploy_policy.py │ │ └── send_to_unitree.sh │ ├── setup.py │ ├── tests │ │ ├── __init__.py │ │ └── check_camera_msgs.py │ ├── unitree_legged_sdk_bin │ │ ├── __init__.py │ │ ├── lcm_position │ │ └── lcm_position.cpp │ └── utils │ │ ├── __init__.py │ │ ├── cheetah_state_estimator.py │ │ ├── command_profile.py │ │ ├── deployment_runner.py │ │ ├── logger.py │ │ └── network_config_unitree.py ├── go1_gym_learn │ ├── __init__.py │ ├── env │ │ ├── __init__.py │ │ └── vec_env.py │ ├── eval_metrics │ │ ├── __init__.py │ │ ├── domain_randomization.py │ │ └── metrics.py │ ├── ppo │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── metrics_caches.py │ │ ├── ppo.py │ │ └── rollout_storage.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py ├── resources │ └── robots │ │ ├── go1 │ │ ├── meshes │ │ │ ├── calf.stl │ │ │ ├── hip.stl │ │ │ ├── thigh.stl │ │ │ ├── thigh_mirror.stl │ │ │ └── trunk.stl │ │ ├── urdf │ │ │ ├── go1.urdf │ │ │ └── go1_constrained.urdf │ │ └── xml │ │ │ └── go1.xml │ │ └── mini_cheetah │ │ ├── meshes │ │ ├── lower_leg.dae │ │ ├── lower_leg.dae.meta │ │ ├── mini_abad.obj │ │ ├── mini_abad.obj.meta │ │ ├── mini_body.obj │ │ ├── mini_body.obj.meta │ │ ├── mini_lower_link.obj │ │ ├── mini_lower_link.obj.meta │ │ ├── mini_upper_link.obj │ │ └── mini_upper_link.obj.meta │ │ └── urdf │ │ ├── meshes │ │ ├── mini_abad.obj │ │ ├── mini_body.obj │ │ ├── mini_lower_link.obj │ │ └── mini_upper_link.obj │ │ ├── mini_cheetah.urdf │ │ └── mini_cheetah_simple.urdf ├── runs │ └── forward_locomotion │ │ └── dr_eureka_best │ │ ├── .charts.yml │ │ ├── checkpoints │ │ ├── ac_weights_000000.pt │ │ ├── ac_weights_000400.pt │ │ ├── ac_weights_000800.pt │ │ ├── ac_weights_000999.pt │ │ ├── ac_weights_last.pt │ │ ├── adaptation_module_latest.jit │ │ └── body_latest.jit │ │ ├── curriculum │ │ └── info.pkl │ │ ├── metrics.pkl │ │ ├── outputs.log │ │ └── parameters.pkl ├── scripts │ ├── __init__.py │ ├── play.py │ └── train.py └── setup.py ├── globe_walking ├── LICENSE ├── LICENSES │ ├── legged_gym │ │ └── LICENSE │ └── rsl_rl │ │ └── LICENSE ├── go1_gym │ ├── __init__.py │ ├── assets │ │ ├── __init__.py │ │ ├── asset.py │ │ └── ball.py │ ├── envs │ │ ├── __init__.py │ │ ├── base │ │ │ ├── __init__.py │ │ │ ├── base_task.py │ │ │ ├── curriculum.py │ │ │ ├── legged_robot.py │ │ │ ├── legged_robot_config.py │ │ │ ├── legged_robot_config_template.py │ │ │ └── vec_task.py │ │ ├── go1 │ │ │ ├── __init__.py │ │ │ ├── go1_config.py │ │ │ └── velocity_tracking │ │ │ │ └── __init__.py │ │ └── wrappers │ │ │ └── history_wrapper.py │ ├── rewards │ │ ├── eureka_reward.py │ │ └── eureka_reward_template.py │ ├── robots │ │ ├── go1.py │ │ └── robot.py │ ├── sensors │ │ ├── __init__.py │ │ ├── action_sensor.py │ │ ├── attached_camera_sensor.py │ │ ├── body_velocity_sensor.py │ │ ├── clock_sensor.py │ │ ├── com_sensor.py │ │ ├── feet_contact_sensor.py │ │ ├── floating_camera_sensor.py │ │ ├── friction_sensor.py │ │ ├── heightmap_sensor.py │ │ ├── joint_position_sensor.py │ │ ├── joint_velocity_sensor.py │ │ ├── last_action_sensor.py │ │ ├── motor_strength_sensor.py │ │ ├── object_sensor.py │ │ ├── object_velocity_sensor.py │ │ ├── orientation_sensor.py │ │ ├── payload_sensor.py │ │ ├── rc_sensor.py │ │ ├── restitution_sensor.py │ │ ├── sensor.py │ │ ├── timing_sensor.py │ │ └── yaw_sensor.py │ ├── terrains │ │ ├── __init__.py │ │ ├── box_terrain.py │ │ ├── ground_plane_terrain.py │ │ ├── heightfield_terrain.py │ │ ├── terrain.py │ │ ├── tm_box_terrain.py │ │ └── trimesh_terrain.py │ └── utils │ │ ├── __init__.py │ │ ├── dr_utils.py │ │ ├── logger.py │ │ ├── math_utils.py │ │ └── terrain.py ├── go1_gym_deploy │ ├── __init__.py │ ├── autostart │ │ ├── start_controller.sh │ │ └── start_unitree_sdk.sh │ ├── docker │ │ ├── Dockerfile │ │ ├── Makefile │ │ ├── unzip_image.sh │ │ └── zip_image.sh │ ├── envs │ │ ├── __init__.py │ │ ├── history_wrapper.py │ │ └── lcm_agent.py │ ├── installer │ │ └── install_deployment_code.sh │ ├── lcm_types │ │ ├── __init__.py │ │ ├── camera_message_lcmt.py │ │ ├── camera_message_rect_wide.py │ │ ├── leg_control_data_lcmt.lcm │ │ ├── leg_control_data_lcmt.py │ │ ├── pd_tau_targets_lcmt.lcm │ │ ├── pd_tau_targets_lcmt.py │ │ ├── rc_command_lcmt.lcm │ │ ├── rc_command_lcmt.py │ │ ├── state_estimator_lcmt.lcm │ │ └── state_estimator_lcmt.py │ ├── scripts │ │ ├── __init__.py │ │ ├── deploy_policy.py │ │ └── send_to_unitree.sh │ ├── setup.py │ ├── tests │ │ ├── __init__.py │ │ └── check_camera_msgs.py │ ├── unitree_legged_sdk_bin │ │ ├── __init__.py │ │ ├── lcm_position │ │ └── lcm_position.cpp │ └── utils │ │ ├── __init__.py │ │ ├── cheetah_state_estimator.py │ │ ├── command_profile.py │ │ ├── deployment_runner.py │ │ ├── logger.py │ │ └── network_config_unitree.py ├── go1_gym_learn │ ├── __init__.py │ ├── env │ │ ├── __init__.py │ │ └── vec_env.py │ ├── eval_metrics │ │ ├── __init__.py │ │ ├── domain_randomization.py │ │ └── metrics.py │ ├── ppo_cse │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── metrics_caches.py │ │ ├── ppo.py │ │ └── rollout_storage.py │ ├── ppo_cse_teacher_student │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── metrics_caches.py │ │ ├── ppo.py │ │ └── rollout_storage.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py ├── resources │ ├── actuator_nets │ │ └── unitree_go1.pt │ ├── objects │ │ └── ball.urdf │ ├── robots │ │ └── go1 │ │ │ ├── meshes │ │ │ ├── calf.stl │ │ │ ├── hip.stl │ │ │ ├── thigh.stl │ │ │ ├── thigh_mirror.stl │ │ │ └── trunk.stl │ │ │ ├── urdf │ │ │ ├── go1.urdf │ │ │ └── go1_constrained.urdf │ │ │ └── xml │ │ │ └── go1.xml │ └── textures │ │ ├── background_texture_metal_rust.jpg │ │ ├── brick_texture.jpg │ │ ├── grass.jpg │ │ ├── ice_texture.jpg │ │ ├── icy_pond.jpg │ │ ├── metal_wall_iron_fence.jpg │ │ ├── particle_board_paint_aged.jpg │ │ ├── pebble_stone_texture_nature.jpg │ │ ├── snow.jpg │ │ ├── texture_background_wall_paint_2.jpg │ │ ├── texture_background_wall_paint_3.jpg │ │ ├── texture_stone_stone_texture_0.jpg │ │ ├── texture_wood_brown_1033760.jpg │ │ ├── tiled_brick_texture.jpg │ │ ├── tiled_grass.jpg │ │ ├── tiled_ice_texture.jpg │ │ ├── tiled_particle_board_paint_aged.jpg │ │ ├── tiled_pebble_stone_texture_nature.jpg │ │ ├── tiled_snow.jpg │ │ ├── tiled_texture_stone_stone_texture_0.jpg │ │ ├── tiled_texture_wood_brown_1033760.jpg │ │ └── tiling_util.py ├── runs │ └── globe_walking │ │ └── dr_eureka_best │ │ ├── .charts.yml │ │ ├── checkpoints │ │ ├── ac_weights_last.pt │ │ ├── adaptation_module_latest.jit │ │ └── body_latest.jit │ │ ├── metrics.pkl │ │ ├── outputs.log │ │ ├── parameters.pkl │ │ └── videos │ │ ├── plot.png │ │ └── plot_data.npz ├── scripts │ ├── __init__.py │ ├── actuator_net │ │ ├── __init__.py │ │ ├── eval.py │ │ ├── train.py │ │ └── utils.py │ ├── play.py │ └── train.py └── setup.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/README.md -------------------------------------------------------------------------------- /dr_eureka/cfg/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/cfg/config.yaml -------------------------------------------------------------------------------- /dr_eureka/cfg/config_rapp.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/cfg/config_rapp.yaml -------------------------------------------------------------------------------- /dr_eureka/cfg/env/forward_locomotion.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/cfg/env/forward_locomotion.yaml -------------------------------------------------------------------------------- /dr_eureka/cfg/env/globe_walking.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/cfg/env/globe_walking.yaml -------------------------------------------------------------------------------- /dr_eureka/cfg/hydra/launcher/local.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/cfg/hydra/launcher/local.yaml -------------------------------------------------------------------------------- /dr_eureka/cfg/hydra/output/local.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/cfg/hydra/output/local.yaml -------------------------------------------------------------------------------- /dr_eureka/dr_eureka.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/dr_eureka.py -------------------------------------------------------------------------------- /dr_eureka/prompts/initial_system.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/prompts/initial_system.txt -------------------------------------------------------------------------------- /dr_eureka/prompts/initial_users/forward_locomotion.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/prompts/initial_users/forward_locomotion.txt -------------------------------------------------------------------------------- /dr_eureka/prompts/initial_users/globe_walking.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/prompts/initial_users/globe_walking.txt -------------------------------------------------------------------------------- /dr_eureka/prompts/initial_users/initial_users_template.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/prompts/initial_users/initial_users_template.txt -------------------------------------------------------------------------------- /dr_eureka/rapp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/rapp.py -------------------------------------------------------------------------------- /dr_eureka/utils/create_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/utils/create_task.py -------------------------------------------------------------------------------- /dr_eureka/utils/extract_task_code.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/utils/extract_task_code.py -------------------------------------------------------------------------------- /dr_eureka/utils/file_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/utils/file_utils.py -------------------------------------------------------------------------------- /dr_eureka/utils/misc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/dr_eureka/utils/misc.py -------------------------------------------------------------------------------- /eureka/cfg/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/cfg/config.yaml -------------------------------------------------------------------------------- /eureka/cfg/env/forward_locomotion.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/cfg/env/forward_locomotion.yaml -------------------------------------------------------------------------------- /eureka/cfg/env/globe_walking.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/cfg/env/globe_walking.yaml -------------------------------------------------------------------------------- /eureka/cfg/hydra/launcher/local.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/cfg/hydra/launcher/local.yaml -------------------------------------------------------------------------------- /eureka/cfg/hydra/output/local.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/cfg/hydra/output/local.yaml -------------------------------------------------------------------------------- /eureka/envs/forward_locomotion.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/envs/forward_locomotion.py -------------------------------------------------------------------------------- /eureka/envs/globe_walking.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/envs/globe_walking.py -------------------------------------------------------------------------------- /eureka/eureka.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/eureka.py -------------------------------------------------------------------------------- /eureka/prompts/code_feedback.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/prompts/code_feedback.txt -------------------------------------------------------------------------------- /eureka/prompts/code_output_tip.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/prompts/code_output_tip.txt -------------------------------------------------------------------------------- /eureka/prompts/code_output_tip_temp.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/prompts/code_output_tip_temp.txt -------------------------------------------------------------------------------- /eureka/prompts/execution_error_feedback.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/prompts/execution_error_feedback.txt -------------------------------------------------------------------------------- /eureka/prompts/initial_system.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/prompts/initial_system.txt -------------------------------------------------------------------------------- /eureka/prompts/initial_user.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/prompts/initial_user.txt -------------------------------------------------------------------------------- /eureka/prompts/policy_feedback.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/prompts/policy_feedback.txt -------------------------------------------------------------------------------- /eureka/prompts/reward_signatures/forward_locomotion.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/prompts/reward_signatures/forward_locomotion.txt -------------------------------------------------------------------------------- /eureka/prompts/reward_signatures/globe_walking.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/prompts/reward_signatures/globe_walking.txt -------------------------------------------------------------------------------- /eureka/utils/extract_task_code.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/utils/extract_task_code.py -------------------------------------------------------------------------------- /eureka/utils/file_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/utils/file_utils.py -------------------------------------------------------------------------------- /eureka/utils/misc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/eureka/utils/misc.py -------------------------------------------------------------------------------- /forward_locomotion/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/LICENSE -------------------------------------------------------------------------------- /forward_locomotion/LICENSES/legged_gym/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/LICENSES/legged_gym/LICENSE -------------------------------------------------------------------------------- /forward_locomotion/LICENSES/rsl_rl/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/LICENSES/rsl_rl/LICENSE -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/__init__.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/base/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/base/base_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/base/base_task.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/base/curriculum.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/base/curriculum.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/base/legged_robot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/base/legged_robot.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/base/legged_robot_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/base/legged_robot_config.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/base/legged_robot_config_template.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/base/legged_robot_config_template.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/go1/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/go1/go1_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/go1/go1_config.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/mini_cheetah/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/mini_cheetah/mini_cheetah_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/mini_cheetah/mini_cheetah_config.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/mini_cheetah/velocity_tracking/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/mini_cheetah/velocity_tracking/__init__.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/mini_cheetah/velocity_tracking/velocity_tracking_easy_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/mini_cheetah/velocity_tracking/velocity_tracking_easy_env.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/envs/wrappers/history_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/envs/wrappers/history_wrapper.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/rewards/eureka_reward.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/rewards/eureka_reward.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/rewards/eureka_reward_template.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/rewards/eureka_reward_template.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/rewards/original_reward.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/rewards/original_reward.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/utils/__init__.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/utils/math_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/utils/math_utils.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym/utils/terrain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym/utils/terrain.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/autostart/start_controller.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/autostart/start_controller.sh -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/autostart/start_unitree_sdk.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/autostart/start_unitree_sdk.sh -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/docker/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/docker/Dockerfile -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/docker/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/docker/Makefile -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/docker/unzip_image.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | docker load -i deployment_image.tar 3 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/docker/zip_image.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/docker/zip_image.sh -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/envs/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/envs/history_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/envs/history_wrapper.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/envs/lcm_agent.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/envs/lcm_agent.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/installer/install_deployment_code.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/installer/install_deployment_code.sh -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/camera_message_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/camera_message_lcmt.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/camera_message_rect_wide.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/camera_message_rect_wide.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/leg_control_data_lcmt.lcm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/leg_control_data_lcmt.lcm -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/leg_control_data_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/leg_control_data_lcmt.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/pd_tau_targets_lcmt.lcm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/pd_tau_targets_lcmt.lcm -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/pd_tau_targets_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/pd_tau_targets_lcmt.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/rc_command_lcmt.lcm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/rc_command_lcmt.lcm -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/rc_command_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/rc_command_lcmt.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/state_estimator_lcmt.lcm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/state_estimator_lcmt.lcm -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/lcm_types/state_estimator_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/lcm_types/state_estimator_lcmt.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/scripts/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/scripts/deploy_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/scripts/deploy_policy.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/scripts/send_to_unitree.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/scripts/send_to_unitree.sh -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/setup.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/tests/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/tests/check_camera_msgs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/tests/check_camera_msgs.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/unitree_legged_sdk_bin/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/unitree_legged_sdk_bin/lcm_position: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/unitree_legged_sdk_bin/lcm_position -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/unitree_legged_sdk_bin/lcm_position.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/unitree_legged_sdk_bin/lcm_position.cpp -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/utils/cheetah_state_estimator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/utils/cheetah_state_estimator.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/utils/command_profile.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/utils/command_profile.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/utils/deployment_runner.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/utils/deployment_runner.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/utils/logger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/utils/logger.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_deploy/utils/network_config_unitree.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_deploy/utils/network_config_unitree.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/env/__init__.py: -------------------------------------------------------------------------------- 1 | 2 | 3 | from .vec_env import VecEnv -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/env/vec_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/env/vec_env.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/eval_metrics/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/eval_metrics/domain_randomization.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/eval_metrics/domain_randomization.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/eval_metrics/metrics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/eval_metrics/metrics.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/ppo/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/ppo/__init__.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/ppo/actor_critic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/ppo/actor_critic.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/ppo/metrics_caches.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/ppo/metrics_caches.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/ppo/ppo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/ppo/ppo.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/ppo/rollout_storage.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/ppo/rollout_storage.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/utils/__init__.py -------------------------------------------------------------------------------- /forward_locomotion/go1_gym_learn/utils/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/go1_gym_learn/utils/utils.py -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/go1/meshes/calf.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/go1/meshes/calf.stl -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/go1/meshes/hip.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/go1/meshes/hip.stl -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/go1/meshes/thigh.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/go1/meshes/thigh.stl -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/go1/meshes/thigh_mirror.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/go1/meshes/thigh_mirror.stl -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/go1/meshes/trunk.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/go1/meshes/trunk.stl -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/go1/urdf/go1.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/go1/urdf/go1.urdf -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/go1/urdf/go1_constrained.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/go1/urdf/go1_constrained.urdf -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/go1/xml/go1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/go1/xml/go1.xml -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/lower_leg.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/lower_leg.dae -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/lower_leg.dae.meta: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/lower_leg.dae.meta -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/mini_abad.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/mini_abad.obj -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/mini_abad.obj.meta: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/mini_abad.obj.meta -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/mini_body.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/mini_body.obj -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/mini_body.obj.meta: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/mini_body.obj.meta -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/mini_lower_link.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/mini_lower_link.obj -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/mini_lower_link.obj.meta: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/mini_lower_link.obj.meta -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/mini_upper_link.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/mini_upper_link.obj -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/meshes/mini_upper_link.obj.meta: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/meshes/mini_upper_link.obj.meta -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/urdf/meshes/mini_abad.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/urdf/meshes/mini_abad.obj -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/urdf/meshes/mini_body.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/urdf/meshes/mini_body.obj -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/urdf/meshes/mini_lower_link.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/urdf/meshes/mini_lower_link.obj -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/urdf/meshes/mini_upper_link.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/urdf/meshes/mini_upper_link.obj -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/urdf/mini_cheetah.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/urdf/mini_cheetah.urdf -------------------------------------------------------------------------------- /forward_locomotion/resources/robots/mini_cheetah/urdf/mini_cheetah_simple.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/resources/robots/mini_cheetah/urdf/mini_cheetah_simple.urdf -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/.charts.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/.charts.yml -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_000000.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_000000.pt -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_000400.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_000400.pt -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_000800.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_000800.pt -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_000999.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_000999.pt -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_last.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/ac_weights_last.pt -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/adaptation_module_latest.jit: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/adaptation_module_latest.jit -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/body_latest.jit: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/checkpoints/body_latest.jit -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/curriculum/info.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/curriculum/info.pkl -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/metrics.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/metrics.pkl -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/outputs.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/outputs.log -------------------------------------------------------------------------------- /forward_locomotion/runs/forward_locomotion/dr_eureka_best/parameters.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/runs/forward_locomotion/dr_eureka_best/parameters.pkl -------------------------------------------------------------------------------- /forward_locomotion/scripts/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /forward_locomotion/scripts/play.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/scripts/play.py -------------------------------------------------------------------------------- /forward_locomotion/scripts/train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/scripts/train.py -------------------------------------------------------------------------------- /forward_locomotion/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/forward_locomotion/setup.py -------------------------------------------------------------------------------- /globe_walking/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/LICENSE -------------------------------------------------------------------------------- /globe_walking/LICENSES/legged_gym/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/LICENSES/legged_gym/LICENSE -------------------------------------------------------------------------------- /globe_walking/LICENSES/rsl_rl/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/LICENSES/rsl_rl/LICENSE -------------------------------------------------------------------------------- /globe_walking/go1_gym/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/__init__.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/assets/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym/assets/asset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/assets/asset.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/assets/ball.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/assets/ball.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/base/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/base/base_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/envs/base/base_task.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/base/curriculum.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/envs/base/curriculum.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/base/legged_robot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/envs/base/legged_robot.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/base/legged_robot_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/envs/base/legged_robot_config.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/base/legged_robot_config_template.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/envs/base/legged_robot_config_template.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/base/vec_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/envs/base/vec_task.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/go1/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/go1/go1_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/envs/go1/go1_config.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/go1/velocity_tracking/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/envs/go1/velocity_tracking/__init__.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/envs/wrappers/history_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/envs/wrappers/history_wrapper.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/rewards/eureka_reward.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/rewards/eureka_reward.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/rewards/eureka_reward_template.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/rewards/eureka_reward_template.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/robots/go1.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/robots/go1.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/robots/robot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/robots/robot.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/__init__.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/action_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/action_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/attached_camera_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/attached_camera_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/body_velocity_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/body_velocity_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/clock_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/clock_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/com_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/com_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/feet_contact_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/feet_contact_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/floating_camera_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/floating_camera_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/friction_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/friction_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/heightmap_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/heightmap_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/joint_position_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/joint_position_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/joint_velocity_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/joint_velocity_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/last_action_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/last_action_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/motor_strength_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/motor_strength_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/object_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/object_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/object_velocity_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/object_velocity_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/orientation_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/orientation_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/payload_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/payload_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/rc_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/rc_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/restitution_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/restitution_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/timing_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/timing_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/sensors/yaw_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/sensors/yaw_sensor.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/terrains/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/terrains/__init__.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/terrains/box_terrain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/terrains/box_terrain.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/terrains/ground_plane_terrain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/terrains/ground_plane_terrain.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/terrains/heightfield_terrain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/terrains/heightfield_terrain.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/terrains/terrain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/terrains/terrain.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/terrains/tm_box_terrain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/terrains/tm_box_terrain.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/terrains/trimesh_terrain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/terrains/trimesh_terrain.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/utils/__init__.py: -------------------------------------------------------------------------------- 1 | from .math_utils import * 2 | -------------------------------------------------------------------------------- /globe_walking/go1_gym/utils/dr_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/utils/dr_utils.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/utils/logger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/utils/logger.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/utils/math_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/utils/math_utils.py -------------------------------------------------------------------------------- /globe_walking/go1_gym/utils/terrain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym/utils/terrain.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/autostart/start_controller.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/autostart/start_controller.sh -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/autostart/start_unitree_sdk.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/autostart/start_unitree_sdk.sh -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/docker/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/docker/Dockerfile -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/docker/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/docker/Makefile -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/docker/unzip_image.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | docker load -i deployment_image.tar 3 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/docker/zip_image.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/docker/zip_image.sh -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/envs/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/envs/history_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/envs/history_wrapper.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/envs/lcm_agent.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/envs/lcm_agent.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/installer/install_deployment_code.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/installer/install_deployment_code.sh -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/camera_message_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/camera_message_lcmt.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/camera_message_rect_wide.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/camera_message_rect_wide.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/leg_control_data_lcmt.lcm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/leg_control_data_lcmt.lcm -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/leg_control_data_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/leg_control_data_lcmt.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/pd_tau_targets_lcmt.lcm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/pd_tau_targets_lcmt.lcm -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/pd_tau_targets_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/pd_tau_targets_lcmt.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/rc_command_lcmt.lcm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/rc_command_lcmt.lcm -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/rc_command_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/rc_command_lcmt.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/state_estimator_lcmt.lcm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/state_estimator_lcmt.lcm -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/lcm_types/state_estimator_lcmt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/lcm_types/state_estimator_lcmt.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/scripts/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/scripts/deploy_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/scripts/deploy_policy.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/scripts/send_to_unitree.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/scripts/send_to_unitree.sh -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/setup.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/tests/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/tests/check_camera_msgs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/tests/check_camera_msgs.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/unitree_legged_sdk_bin/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/unitree_legged_sdk_bin/lcm_position: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/unitree_legged_sdk_bin/lcm_position -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/unitree_legged_sdk_bin/lcm_position.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/unitree_legged_sdk_bin/lcm_position.cpp -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/utils/cheetah_state_estimator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/utils/cheetah_state_estimator.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/utils/command_profile.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/utils/command_profile.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/utils/deployment_runner.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/utils/deployment_runner.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/utils/logger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/utils/logger.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_deploy/utils/network_config_unitree.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_deploy/utils/network_config_unitree.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/env/__init__.py: -------------------------------------------------------------------------------- 1 | 2 | 3 | from .vec_env import VecEnv -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/env/vec_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/env/vec_env.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/eval_metrics/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/eval_metrics/domain_randomization.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/eval_metrics/domain_randomization.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/eval_metrics/metrics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/eval_metrics/metrics.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse/__init__.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse/actor_critic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse/actor_critic.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse/metrics_caches.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse/metrics_caches.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse/ppo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse/ppo.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse/rollout_storage.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse/rollout_storage.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse_teacher_student/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse_teacher_student/__init__.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse_teacher_student/actor_critic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse_teacher_student/actor_critic.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse_teacher_student/metrics_caches.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse_teacher_student/metrics_caches.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse_teacher_student/ppo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse_teacher_student/ppo.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/ppo_cse_teacher_student/rollout_storage.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/ppo_cse_teacher_student/rollout_storage.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/utils/__init__.py -------------------------------------------------------------------------------- /globe_walking/go1_gym_learn/utils/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/go1_gym_learn/utils/utils.py -------------------------------------------------------------------------------- /globe_walking/resources/actuator_nets/unitree_go1.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/actuator_nets/unitree_go1.pt -------------------------------------------------------------------------------- /globe_walking/resources/objects/ball.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/objects/ball.urdf -------------------------------------------------------------------------------- /globe_walking/resources/robots/go1/meshes/calf.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/robots/go1/meshes/calf.stl -------------------------------------------------------------------------------- /globe_walking/resources/robots/go1/meshes/hip.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/robots/go1/meshes/hip.stl -------------------------------------------------------------------------------- /globe_walking/resources/robots/go1/meshes/thigh.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/robots/go1/meshes/thigh.stl -------------------------------------------------------------------------------- /globe_walking/resources/robots/go1/meshes/thigh_mirror.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/robots/go1/meshes/thigh_mirror.stl -------------------------------------------------------------------------------- /globe_walking/resources/robots/go1/meshes/trunk.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/robots/go1/meshes/trunk.stl -------------------------------------------------------------------------------- /globe_walking/resources/robots/go1/urdf/go1.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/robots/go1/urdf/go1.urdf -------------------------------------------------------------------------------- /globe_walking/resources/robots/go1/urdf/go1_constrained.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/robots/go1/urdf/go1_constrained.urdf -------------------------------------------------------------------------------- /globe_walking/resources/robots/go1/xml/go1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/robots/go1/xml/go1.xml -------------------------------------------------------------------------------- /globe_walking/resources/textures/background_texture_metal_rust.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/background_texture_metal_rust.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/brick_texture.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/brick_texture.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/grass.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/grass.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/ice_texture.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/ice_texture.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/icy_pond.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/icy_pond.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/metal_wall_iron_fence.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/metal_wall_iron_fence.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/particle_board_paint_aged.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/particle_board_paint_aged.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/pebble_stone_texture_nature.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/pebble_stone_texture_nature.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/snow.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/snow.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/texture_background_wall_paint_2.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/texture_background_wall_paint_2.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/texture_background_wall_paint_3.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/texture_background_wall_paint_3.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/texture_stone_stone_texture_0.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/texture_stone_stone_texture_0.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/texture_wood_brown_1033760.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/texture_wood_brown_1033760.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/tiled_brick_texture.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/tiled_brick_texture.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/tiled_grass.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/tiled_grass.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/tiled_ice_texture.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/tiled_ice_texture.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/tiled_particle_board_paint_aged.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/tiled_particle_board_paint_aged.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/tiled_pebble_stone_texture_nature.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/tiled_pebble_stone_texture_nature.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/tiled_snow.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/tiled_snow.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/tiled_texture_stone_stone_texture_0.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/tiled_texture_stone_stone_texture_0.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/tiled_texture_wood_brown_1033760.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/tiled_texture_wood_brown_1033760.jpg -------------------------------------------------------------------------------- /globe_walking/resources/textures/tiling_util.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/resources/textures/tiling_util.py -------------------------------------------------------------------------------- /globe_walking/runs/globe_walking/dr_eureka_best/.charts.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/runs/globe_walking/dr_eureka_best/.charts.yml -------------------------------------------------------------------------------- /globe_walking/runs/globe_walking/dr_eureka_best/checkpoints/ac_weights_last.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/runs/globe_walking/dr_eureka_best/checkpoints/ac_weights_last.pt -------------------------------------------------------------------------------- /globe_walking/runs/globe_walking/dr_eureka_best/checkpoints/adaptation_module_latest.jit: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/runs/globe_walking/dr_eureka_best/checkpoints/adaptation_module_latest.jit -------------------------------------------------------------------------------- /globe_walking/runs/globe_walking/dr_eureka_best/checkpoints/body_latest.jit: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/runs/globe_walking/dr_eureka_best/checkpoints/body_latest.jit -------------------------------------------------------------------------------- /globe_walking/runs/globe_walking/dr_eureka_best/metrics.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/runs/globe_walking/dr_eureka_best/metrics.pkl -------------------------------------------------------------------------------- /globe_walking/runs/globe_walking/dr_eureka_best/outputs.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/runs/globe_walking/dr_eureka_best/outputs.log -------------------------------------------------------------------------------- /globe_walking/runs/globe_walking/dr_eureka_best/parameters.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/runs/globe_walking/dr_eureka_best/parameters.pkl -------------------------------------------------------------------------------- /globe_walking/runs/globe_walking/dr_eureka_best/videos/plot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/runs/globe_walking/dr_eureka_best/videos/plot.png -------------------------------------------------------------------------------- /globe_walking/runs/globe_walking/dr_eureka_best/videos/plot_data.npz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/runs/globe_walking/dr_eureka_best/videos/plot_data.npz -------------------------------------------------------------------------------- /globe_walking/scripts/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/scripts/actuator_net/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /globe_walking/scripts/actuator_net/eval.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/scripts/actuator_net/eval.py -------------------------------------------------------------------------------- /globe_walking/scripts/actuator_net/train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/scripts/actuator_net/train.py -------------------------------------------------------------------------------- /globe_walking/scripts/actuator_net/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/scripts/actuator_net/utils.py -------------------------------------------------------------------------------- /globe_walking/scripts/play.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/scripts/play.py -------------------------------------------------------------------------------- /globe_walking/scripts/train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/scripts/train.py -------------------------------------------------------------------------------- /globe_walking/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/globe_walking/setup.py -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/eureka-research/DrEureka/HEAD/setup.py --------------------------------------------------------------------------------