├── .gitignore ├── LICENSE ├── README.md ├── eurekaverse ├── .gitignore ├── __init__.py ├── config │ ├── config.yaml │ └── hydra │ │ ├── launcher │ │ └── local.yaml │ │ └── output │ │ └── local.yaml ├── config_distill │ ├── config.yaml │ └── hydra │ │ ├── launcher │ │ └── local.yaml │ │ └── output │ │ └── local.yaml ├── distill_eurekaverse.py ├── gpt │ ├── evolution_example_prompt.txt │ ├── evolution_prompt.txt │ ├── initial_example_prompt.txt │ ├── system_prompt.txt │ ├── terrain_example_evolution.py │ ├── terrain_example_initial.py │ └── terrain_template.py ├── run_eurekaverse.py ├── scripts │ ├── post_evaluate_run.py │ └── post_update_wandb.py └── utils │ ├── gpt_utils.py │ ├── misc_utils.py │ └── terrain_utils.py ├── extreme-parkour ├── .gitignore ├── LICENSE ├── legged_gym │ ├── .gitignore │ ├── LICENSE │ ├── legged_gym │ │ ├── __init__.py │ │ ├── envs │ │ │ ├── __init__.py │ │ │ ├── a1 │ │ │ │ ├── a1_config.py │ │ │ │ └── a1_parkour_config.py │ │ │ ├── anymal_b │ │ │ │ └── anymal_b_config.py │ │ │ ├── anymal_c │ │ │ │ ├── anymal.py │ │ │ │ ├── flat │ │ │ │ │ └── anymal_c_flat_config.py │ │ │ │ └── mixed_terrains │ │ │ │ │ └── anymal_c_rough_config.py │ │ │ ├── base │ │ │ │ ├── base_config.py │ │ │ │ ├── base_task.py │ │ │ │ ├── legged_robot.py │ │ │ │ └── legged_robot_config.py │ │ │ ├── cassie │ │ │ │ ├── cassie.py │ │ │ │ └── cassie_config.py │ │ │ └── go1 │ │ │ │ └── go1_config.py │ │ ├── scripts │ │ │ ├── evaluate.py │ │ │ ├── render.py │ │ │ ├── save_jit.py │ │ │ └── train.py │ │ ├── tests │ │ │ └── test_env.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── helpers.py │ │ │ ├── logger.py │ │ │ ├── math.py │ │ │ ├── set_terrain.py │ │ │ ├── set_terrain_benchmark.py │ │ │ ├── set_terrain_original.py │ │ │ ├── set_terrain_original_distill.py │ │ │ ├── set_terrain_random.py │ │ │ ├── set_terrain_simple.py │ │ │ ├── storage.py │ │ │ ├── task_registry.py │ │ │ ├── terrain.py │ │ │ ├── terrain_gpt.py │ │ │ ├── webviewer.html │ │ │ └── webviewer.py │ ├── licenses │ │ ├── assets │ │ │ ├── ANYmal_b_license.txt │ │ │ ├── ANYmal_c_license.txt │ │ │ ├── a1_license.txt │ │ │ └── cassie_license.txt │ │ └── dependencies │ │ │ └── matplotlib_license.txt │ ├── requirements.txt │ ├── resources │ │ ├── actuator_nets │ │ │ └── anydrive_v3_lstm.pt │ │ └── robots │ │ │ ├── a1 │ │ │ ├── a1_license.txt │ │ │ ├── meshes │ │ │ │ ├── calf.dae │ │ │ │ ├── hip.dae │ │ │ │ ├── thigh.dae │ │ │ │ ├── thigh_mirror.dae │ │ │ │ ├── trunk.dae │ │ │ │ └── trunk_A1.png │ │ │ └── urdf │ │ │ │ ├── a1.urdf │ │ │ │ ├── a1_old.urdf │ │ │ │ ├── a1_short.urdf │ │ │ │ └── a1_shorter.urdf │ │ │ ├── anymal_b │ │ │ ├── ANYmal_b_license.txt │ │ │ ├── meshes │ │ │ │ ├── anymal_base.dae │ │ │ │ ├── anymal_foot.dae │ │ │ │ ├── anymal_hip_l.dae │ │ │ │ ├── anymal_hip_r.dae │ │ │ │ ├── anymal_shank_l.dae │ │ │ │ ├── anymal_shank_r.dae │ │ │ │ ├── anymal_thigh_l.dae │ │ │ │ ├── anymal_thigh_r.dae │ │ │ │ ├── base_uv_texture.jpg │ │ │ │ └── carbon_uv_texture.jpg │ │ │ └── urdf │ │ │ │ └── anymal_b.urdf │ │ │ ├── anymal_c │ │ │ ├── ANYmal_c_license.txt │ │ │ ├── meshes │ │ │ │ ├── base.dae │ │ │ │ ├── base.jpg │ │ │ │ ├── battery.dae │ │ │ │ ├── battery.jpg │ │ │ │ ├── bottom_shell.dae │ │ │ │ ├── bottom_shell.jpg │ │ │ │ ├── depth_camera.dae │ │ │ │ ├── depth_camera.jpg │ │ │ │ ├── drive.dae │ │ │ │ ├── drive.jpg │ │ │ │ ├── face.dae │ │ │ │ ├── face.jpg │ │ │ │ ├── foot.dae │ │ │ │ ├── foot.jpg │ │ │ │ ├── handle.dae │ │ │ │ ├── handle.jpg │ │ │ │ ├── hatch.dae │ │ │ │ ├── hatch.jpg │ │ │ │ ├── hip.jpg │ │ │ │ ├── hip_l.dae │ │ │ │ ├── hip_r.dae │ │ │ │ ├── lidar.dae │ │ │ │ ├── lidar.jpg │ │ │ │ ├── lidar_cage.dae │ │ │ │ ├── lidar_cage.jpg │ │ │ │ ├── remote.dae │ │ │ │ ├── remote.jpg │ │ │ │ ├── shank.jpg │ │ │ │ ├── shank_l.dae │ │ │ │ ├── shank_r.dae │ │ │ │ ├── thigh.dae │ │ │ │ ├── thigh.jpg │ │ │ │ ├── top_shell.dae │ │ │ │ ├── top_shell.jpg │ │ │ │ ├── wide_angle_camera.dae │ │ │ │ └── wide_angle_camera.jpg │ │ │ └── urdf │ │ │ │ └── anymal_c.urdf │ │ │ ├── cassie │ │ │ ├── cassie_license.txt │ │ │ ├── meshes │ │ │ │ ├── abduction.stl │ │ │ │ ├── abduction_mirror.stl │ │ │ │ ├── achilles-rod.stl │ │ │ │ ├── hip.stl │ │ │ │ ├── hip_mirror.stl │ │ │ │ ├── knee-output.stl │ │ │ │ ├── knee-output_mirror.stl │ │ │ │ ├── pelvis.stl │ │ │ │ ├── plantar-rod.stl │ │ │ │ ├── shin-bone.stl │ │ │ │ ├── shin-bone_mirror.stl │ │ │ │ ├── tarsus.stl │ │ │ │ ├── tarsus_mirror.stl │ │ │ │ ├── thigh.stl │ │ │ │ ├── thigh_mirror.stl │ │ │ │ ├── toe-output-crank.stl │ │ │ │ ├── toe.stl │ │ │ │ ├── toe_mirror.stl │ │ │ │ ├── torso.stl │ │ │ │ ├── yaw.stl │ │ │ │ └── yaw_mirror.stl │ │ │ └── urdf │ │ │ │ └── cassie.urdf │ │ │ └── go1 │ │ │ ├── meshes │ │ │ ├── calf.dae │ │ │ ├── calf.stl │ │ │ ├── depthCamera.dae │ │ │ ├── hip.dae │ │ │ ├── hip.stl │ │ │ ├── thigh.dae │ │ │ ├── thigh.stl │ │ │ ├── thigh_mirror.dae │ │ │ ├── thigh_mirror.stl │ │ │ ├── trunk.dae │ │ │ ├── trunk.stl │ │ │ └── ultraSound.dae │ │ │ └── urdf │ │ │ └── go1_with_camera.urdf │ └── setup.py └── rsl_rl │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── licenses │ └── dependencies │ │ ├── numpy_license.txt │ │ └── torch_license.txt │ ├── rsl_rl │ ├── __init__.py │ ├── algorithms │ │ ├── __init__.py │ │ └── ppo.py │ ├── env │ │ ├── __init__.py │ │ └── vec_env.py │ ├── modules │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── actor_critic_recurrent.py │ │ ├── depth_backbone.py │ │ └── estimator.py │ ├── runners │ │ ├── __init__.py │ │ └── on_policy_runner.py │ ├── storage │ │ ├── __init__.py │ │ └── rollout_storage.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py │ └── setup.py ├── go1_deploy ├── __init__.py ├── docker │ ├── Dockerfile │ └── base_images │ │ └── Dockerfile ├── launch │ ├── enter_docker.sh │ ├── start_docker.sh │ └── start_lcm.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 │ 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