├── .gitignore ├── .tags ├── LICENSE ├── README.md ├── datasets ├── hopturn │ └── gallop_jump0_amp_244_273_jump_forward0.json ├── mocap_motions_bak │ ├── leftturn0.txt │ ├── pace0.txt │ ├── pace1.txt │ ├── rightturn0.txt │ ├── trot0.txt │ └── trot1.txt ├── mocap_motions_jump │ └── walk_jump1_amp_291_324_.json └── mocap_motions_jump_cmd │ ├── gallop_forward0.json │ ├── gallop_forward1.json │ ├── jump0.json │ ├── jump1.json │ ├── jump2.json │ ├── trot_forward0.json │ ├── turn_left0.json │ ├── turn_left1.json │ ├── turn_right0.json │ └── turn_right1.json ├── images ├── motion_retargetting_a1_0_1000.webm ├── p1_1.png ├── p1_2.png ├── p2_1.png ├── p2_2.png ├── p2_3.png ├── p2_4.png ├── p2_5.png ├── p2_6.png ├── p2_7.png ├── p2_8.png └── p2_9.png ├── legged_gym ├── __init__.py ├── envs │ ├── __init__.py │ ├── a1 │ │ ├── a1_amp_config.py │ │ ├── a1_amp_jump_cmd_config.py │ │ ├── a1_amp_jump_config.py │ │ └── a1_config.py │ └── base │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── legged_robot.py │ │ ├── legged_robot_config.py │ │ ├── legged_robot_v2.py │ │ └── observation_buffer.py ├── scripts │ ├── play.py │ ├── play_v2.py │ ├── record_policy.py │ └── train.py ├── tests │ └── test_env.py └── utils │ ├── __init__.py │ ├── helpers.py │ ├── logger.py │ ├── math.py │ ├── task_registry.py │ ├── terrain.py │ └── torch_jit_utils.py ├── licenses ├── assets │ ├── a1_license.txt │ └── amp_for_hardware_license.txt └── dependencies │ └── matplotlib_license.txt ├── logs └── a1_amp_jump_cmd │ └── example │ └── model_amp.pt ├── poselib ├── README.md ├── ai4animation_dog_tpose.py ├── data │ ├── AI4Animation_fbx │ │ ├── gallop_around_emergency_stop.fbx │ │ ├── gallop_forward0.fbx │ │ ├── gallop_forward1.fbx │ │ ├── gallop_forward_emergency_stop.fbx │ │ ├── gallop_jump0.fbx │ │ ├── gallop_jump1.fbx │ │ ├── gallop_jump_stop0.fbx │ │ ├── gallop_jump_stop1.fbx │ │ ├── trot_forward0.fbx │ │ ├── trot_forward1.fbx │ │ ├── trot_forward_left_right_turn0.fbx │ │ ├── trot_forward_left_right_turn1.fbx │ │ ├── trot_forward_left_right_turn2.fbx │ │ ├── trot_forward_left_right_turn3.fbx │ │ ├── turn_back_gallop.fbx │ │ ├── turn_left_in_place.fbx │ │ ├── turn_right_in_place.fbx │ │ ├── walk_around0.fbx │ │ ├── walk_around1.fbx │ │ ├── walk_jump0.fbx │ │ ├── walk_jump1.fbx │ │ ├── walk_jump2.fbx │ │ └── walk_jump3.fbx │ ├── amp_a1_tpose.npy │ ├── amp_hardware_a1 │ │ ├── gallop_around_emergency_stop │ │ │ ├── gallop_around_emergency_stop.fbx │ │ │ ├── gallop_around_emergency_stop.npy │ │ │ ├── gallop_around_emergency_stop_amp_121_160_gallop_forward1.json │ │ │ ├── gallop_around_emergency_stop_amp_121_160_gallop_forward1.npy │ │ │ ├── gallop_around_emergency_stop_amp_1_40_gallop_forward0.json │ │ │ ├── gallop_around_emergency_stop_amp_1_40_gallop_forward0.npy │ │ │ ├── gallop_around_emergency_stop_amp_255_280_gallop_forward1.npy │ │ │ ├── gallop_around_emergency_stop_amp_255_280_gallop_forward2.json │ │ │ └── gallop_around_emergency_stop_amp_255_280_gallop_forward2.npy │ │ ├── gallop_forward0 │ │ │ ├── gallop_forward0.fbx │ │ │ ├── gallop_forward0.npy │ │ │ ├── gallop_forward0_amp_204_283_gallop_forward0.json │ │ │ └── gallop_forward0_amp_204_283_gallop_forward0.npy │ │ ├── gallop_forward1 │ │ │ ├── gallop_forward1.fbx │ │ │ ├── gallop_forward1.npy │ │ │ ├── gallop_forward1_amp_0_77_gallop_forward0.json │ │ │ └── gallop_forward1_amp_0_77_gallop_forward0.npy │ │ ├── gallop_forward_emergency_stop │ │ │ ├── gallop_forward_emergency_stop.fbx │ │ │ └── gallop_forward_emergency_stop.npy │ │ ├── gallop_jump0 │ │ │ ├── gallop_jump0.fbx │ │ │ ├── gallop_jump0.npy │ │ │ ├── gallop_jump0_amp_243_274_gallop_jump0.json │ │ │ └── gallop_jump0_amp_243_274_gallop_jump0.npy │ │ ├── gallop_jump1 │ │ │ ├── gallop_jump1.fbx │ │ │ ├── gallop_jump1.npy │ │ │ ├── gallop_jump1_amp_243_273_gallop_jump0.json │ │ │ └── gallop_jump1_amp_243_273_gallop_jump0.npy │ │ ├── gallop_jump_stop0 │ │ │ ├── gallop_jump_stop0.fbx │ │ │ └── gallop_jump_stop0.npy │ │ ├── gallop_jump_stop1 │ │ │ ├── gallop_jump_stop1.fbx │ │ │ └── gallop_jump_stop1.npy │ │ ├── trot_forward0 │ │ │ ├── trot_forward0.fbx │ │ │ ├── trot_forward0.npy │ │ │ ├── trot_forward0_amp_124_273_trot_c_forward.json │ │ │ └── trot_forward0_amp_124_273_trot_c_forward.npy │ │ ├── trot_forward1 │ │ │ ├── trot_forward1.fbx │ │ │ ├── trot_forward1.npy │ │ │ ├── trot_forward1_amp_59_296_trot_forward.json │ │ │ └── trot_forward1_amp_59_296_trot_forward.npy │ │ ├── trot_forward_left_right_turn0 │ │ │ ├── trot_forward_left_right_turn0.fbx │ │ │ └── trot_forward_left_right_turn0.npy │ │ ├── trot_forward_left_right_turn1 │ │ │ ├── trot_forward_left_right_turn1.fbx │ │ │ ├── trot_forward_left_right_turn1.npy │ │ │ ├── trot_forward_left_right_turn1_amp_0_500_turn_right1.npy │ │ │ ├── trot_forward_left_right_turn1_amp_158_535_tort_forward_turn_left_right.json │ │ │ ├── trot_forward_left_right_turn1_amp_158_535_tort_forward_turn_left_right.npy │ │ │ ├── trot_forward_left_right_turn1_amp_177_260_turn_left0.json │ │ │ ├── trot_forward_left_right_turn1_amp_177_260_turn_left0.npy │ │ │ ├── trot_forward_left_right_turn1_amp_273_355_turn_right0.json │ │ │ ├── trot_forward_left_right_turn1_amp_273_355_turn_right0.npy │ │ │ ├── trot_forward_left_right_turn1_amp_376_419_turn_left1.json │ │ │ ├── trot_forward_left_right_turn1_amp_376_419_turn_left1.npy │ │ │ ├── trot_forward_left_right_turn1_amp_435_490_turn_right1.json │ │ │ ├── trot_forward_left_right_turn1_amp_435_490_turn_right1.npy │ │ │ ├── trot_forward_left_right_turn1_amp_500_535_turn_left2.json │ │ │ └── trot_forward_left_right_turn1_amp_500_535_turn_left2.npy │ │ ├── trot_forward_left_right_turn2 │ │ │ ├── trot_forward_left_right_turn2.fbx │ │ │ └── trot_forward_left_right_turn2.npy │ │ ├── trot_forward_left_right_turn3 │ │ │ ├── trot_forward_left_right_turn3.fbx │ │ │ └── trot_forward_left_right_turn3.npy │ │ ├── turn_back_gallop │ │ │ └── turn_back_gallop.fbx │ │ ├── turn_left_in_place │ │ │ └── turn_left_in_place.fbx │ │ ├── turn_right_in_place │ │ │ └── turn_right_in_place.fbx │ │ ├── walk_around0 │ │ │ └── walk_around0.fbx │ │ ├── walk_around1 │ │ │ └── walk_around1.fbx │ │ ├── walk_jump0 │ │ │ ├── walk_jump0.fbx │ │ │ └── walk_jump0.npy │ │ ├── walk_jump1 │ │ │ └── walk_jump1.fbx │ │ ├── walk_jump2 │ │ │ ├── walk_jump2.fbx │ │ │ └── walk_jump2.npy │ │ └── walk_jump3 │ │ │ ├── walk_jump3.fbx │ │ │ ├── walk_jump3.npy │ │ │ ├── walk_jump3_amp_9_42_jump_forward.json │ │ │ └── walk_jump3_amp_9_42_jump_forward.npy │ ├── amp_hardware_a1_org │ │ ├── leftturn0.txt │ │ ├── pace0.txt │ │ ├── pace1.txt │ │ ├── rightturn0.txt │ │ ├── trot0.txt │ │ └── trot1.txt │ ├── dog_tpose.npy │ ├── load_config.json │ └── mocap_motions │ │ ├── gallop_forward0.json │ │ ├── gallop_forward1.json │ │ ├── jump0.json │ │ ├── jump1.json │ │ ├── jump2.json │ │ ├── trot_forward0.json │ │ ├── turn_left0.json │ │ ├── turn_left1.json │ │ ├── turn_right0.json │ │ └── turn_right1.json ├── fbx_importer.py ├── generate_amp_a1_tpose.py ├── json_exporter.py ├── json_loader.py ├── key_points_retargetting.py ├── kinematics.py └── poselib │ ├── __init__.py │ ├── core │ ├── __init__.py │ ├── backend │ │ ├── __init__.py │ │ ├── abstract.py │ │ └── logger.py │ ├── rotation3d.py │ ├── tensor_utils.py │ └── tests │ │ ├── __init__.py │ │ └── test_rotation.py │ ├── skeleton │ ├── __init__.py │ ├── backend │ │ ├── __init__.py │ │ └── fbx │ │ │ ├── __init__.py │ │ │ ├── fbx_backend.py │ │ │ └── fbx_read_wrapper.py │ └── skeleton3d.py │ └── visualization │ ├── __init__.py │ ├── common.py │ ├── core.py │ ├── plt_plotter.py │ ├── simple_plotter_tasks.py │ ├── skeleton_plotter_tasks.py │ └── tests │ ├── __init__.py │ └── test_plotter.py ├── resources └── robots │ └── a1 │ ├── a1_license.txt │ ├── meshes │ ├── calf.dae │ ├── hip.dae │ ├── thigh.dae │ ├── thigh_mirror.dae │ ├── trunk.dae │ └── trunk_A1.png │ └── urdf │ ├── a1.urdf │ └── mjmodel.xml ├── rsl_rl ├── rsl_rl │ ├── __init__.py │ ├── algorithms │ │ ├── __init__.py │ │ ├── amp_discriminator.py │ │ ├── amp_ppo.py │ │ └── ppo.py │ ├── datasets │ │ ├── __init__.py │ │ ├── motion_loader.py │ │ ├── motion_util.py │ │ └── pose3d.py │ ├── env │ │ ├── __init__.py │ │ └── vec_env.py │ ├── modules │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ └── actor_critic_recurrent.py │ ├── runners │ │ ├── __init__.py │ │ ├── amp_on_policy_runner.py │ │ └── on_policy_runner.py │ ├── storage │ │ ├── __init__.py │ │ ├── replay_buffer.py │ │ └── rollout_storage.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py └── setup.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/inspirai/MetalHead/HEAD/.gitignore -------------------------------------------------------------------------------- /.tags: -------------------------------------------------------------------------------- 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