├── .docs ├── Forest_ALB-3.gif ├── ICE-1.gif ├── Industry_ARC-1.gif ├── codebase.png ├── dense_pred.png ├── header_figure.jpg ├── loss_hist.png ├── mask_comparison.png └── pred_video.gif ├── .gitignore ├── LICENSE ├── README.md ├── base_wvn ├── .gitignore ├── README.md ├── base_wvn │ ├── __init__.py │ ├── config │ │ ├── __init__.py │ │ └── wvn_cfg.py │ ├── graph_manager │ │ ├── __init__.py │ │ ├── graphs.py │ │ ├── manager.py │ │ └── nodes.py │ ├── model │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── mlp.py │ │ └── network_register.py │ ├── offline │ │ ├── __init__.py │ │ ├── dataset_cls.py │ │ ├── helper.py │ │ ├── lightening_module.py │ │ ├── pred_video_producer.py │ │ ├── seg_correction.py │ │ └── train_eval.py │ └── utils │ │ ├── __init__.py │ │ ├── confidence_mask_generator.py │ │ ├── dinov2_interface.py │ │ ├── feat_extractor.py │ │ ├── foot_contact_filter.py │ │ ├── image_projector.py │ │ ├── loss.py │ │ ├── meshes.py │ │ └── visualizer.py ├── requirements.txt ├── setup.py └── src │ ├── wild_visual_navigation_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── AnymalState.msg │ │ ├── ChannelInfo.msg │ │ ├── Contact.msg │ │ ├── ExtendedJointState.msg │ │ ├── PhyDecoderOutput.msg │ │ └── PlaneEdge.msg │ ├── package.xml │ └── srv │ │ ├── LoadCheckpoint.srv │ │ └── SaveCheckpoint.srv │ └── wild_visual_navigation_ros │ ├── CMakeLists.txt │ ├── launch │ ├── frame.rviz │ ├── play.launch │ ├── play.rviz │ └── plotjuggler.xml │ ├── package.xml │ ├── scripts │ ├── main_process_node.py │ ├── physical_decoder_node.py │ ├── play_base_wvn.sh │ ├── play_rosbags.sh │ ├── ros_converter.py │ ├── ros_node.py │ └── supervision_label_builder_node.py │ └── setup.py ├── physical_decoder ├── .gitignore ├── physical_decoder │ ├── __init__.py │ ├── decoder.py │ ├── decoder_config.py │ ├── deployment_wrapper.py │ ├── models │ │ ├── model_fric_parallel_pro+exte_2025_06_29_1902.pth │ │ └── model_stiff_parallel_pro+exte_2025_06_30_1652.pth │ ├── modules │ │ ├── __init__.py │ │ ├── mlp.py │ │ └── normalizer.py │ └── utils.py ├── requirements.txt └── setup.py └── physical_decoder_training ├── .gitignore ├── requirements.txt ├── train_eval.py └── training_utils ├── __init__.py ├── data_manager.py ├── dataset_analysis.py ├── lightning_wrapper.py ├── loss_wrapper.py ├── run_config.py └── utils.py /.docs/Forest_ALB-3.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/.docs/Forest_ALB-3.gif -------------------------------------------------------------------------------- /.docs/ICE-1.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/.docs/ICE-1.gif -------------------------------------------------------------------------------- /.docs/Industry_ARC-1.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/.docs/Industry_ARC-1.gif -------------------------------------------------------------------------------- /.docs/codebase.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/.docs/codebase.png -------------------------------------------------------------------------------- /.docs/dense_pred.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/.docs/dense_pred.png -------------------------------------------------------------------------------- /.docs/header_figure.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/.docs/header_figure.jpg -------------------------------------------------------------------------------- /.docs/loss_hist.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/.docs/loss_hist.png -------------------------------------------------------------------------------- /.docs/mask_comparison.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/.docs/mask_comparison.png -------------------------------------------------------------------------------- /.docs/pred_video.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/.docs/pred_video.gif -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .neptune 2 | /models 3 | image 4 | *.ipynb -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/README.md -------------------------------------------------------------------------------- /base_wvn/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/.gitignore -------------------------------------------------------------------------------- /base_wvn/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/README.md -------------------------------------------------------------------------------- /base_wvn/base_wvn/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/__init__.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/config/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/config/__init__.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/config/wvn_cfg.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/config/wvn_cfg.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/graph_manager/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/graph_manager/__init__.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/graph_manager/graphs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/graph_manager/graphs.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/graph_manager/manager.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/graph_manager/manager.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/graph_manager/nodes.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/graph_manager/nodes.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/model/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/model/__init__.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/model/dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/model/dataset.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/model/mlp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/model/mlp.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/model/network_register.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/model/network_register.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/offline/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /base_wvn/base_wvn/offline/dataset_cls.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/offline/dataset_cls.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/offline/helper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/offline/helper.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/offline/lightening_module.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/offline/lightening_module.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/offline/pred_video_producer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/offline/pred_video_producer.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/offline/seg_correction.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/offline/seg_correction.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/offline/train_eval.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/offline/train_eval.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/utils/__init__.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/utils/confidence_mask_generator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/utils/confidence_mask_generator.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/utils/dinov2_interface.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/utils/dinov2_interface.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/utils/feat_extractor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/utils/feat_extractor.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/utils/foot_contact_filter.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/utils/foot_contact_filter.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/utils/image_projector.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/utils/image_projector.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/utils/loss.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/utils/loss.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/utils/meshes.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/utils/meshes.py -------------------------------------------------------------------------------- /base_wvn/base_wvn/utils/visualizer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/base_wvn/utils/visualizer.py -------------------------------------------------------------------------------- /base_wvn/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/requirements.txt -------------------------------------------------------------------------------- /base_wvn/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/setup.py -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/CMakeLists.txt -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/msg/AnymalState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/msg/AnymalState.msg -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/msg/ChannelInfo.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/msg/ChannelInfo.msg -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/msg/Contact.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/msg/Contact.msg -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/msg/ExtendedJointState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/msg/ExtendedJointState.msg -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/msg/PhyDecoderOutput.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/msg/PhyDecoderOutput.msg -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/msg/PlaneEdge.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/msg/PlaneEdge.msg -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/package.xml -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/srv/LoadCheckpoint.srv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/srv/LoadCheckpoint.srv -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_msgs/srv/SaveCheckpoint.srv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_msgs/srv/SaveCheckpoint.srv -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/CMakeLists.txt -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/launch/frame.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/launch/frame.rviz -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/launch/play.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/launch/play.launch -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/launch/play.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/launch/play.rviz -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/launch/plotjuggler.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/launch/plotjuggler.xml -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/package.xml -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/scripts/main_process_node.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/scripts/main_process_node.py -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/scripts/physical_decoder_node.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/scripts/physical_decoder_node.py -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/scripts/play_base_wvn.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/scripts/play_base_wvn.sh -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/scripts/play_rosbags.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/scripts/play_rosbags.sh -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/scripts/ros_converter.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/scripts/ros_converter.py -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/scripts/ros_node.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/scripts/ros_node.py -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/scripts/supervision_label_builder_node.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/scripts/supervision_label_builder_node.py -------------------------------------------------------------------------------- /base_wvn/src/wild_visual_navigation_ros/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/base_wvn/src/wild_visual_navigation_ros/setup.py -------------------------------------------------------------------------------- /physical_decoder/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/.gitignore -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/__init__.py -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/decoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/decoder.py -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/decoder_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/decoder_config.py -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/deployment_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/deployment_wrapper.py -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/models/model_fric_parallel_pro+exte_2025_06_29_1902.pth: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/models/model_fric_parallel_pro+exte_2025_06_29_1902.pth -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/models/model_stiff_parallel_pro+exte_2025_06_30_1652.pth: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/models/model_stiff_parallel_pro+exte_2025_06_30_1652.pth -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/modules/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/modules/__init__.py -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/modules/mlp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/modules/mlp.py -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/modules/normalizer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/modules/normalizer.py -------------------------------------------------------------------------------- /physical_decoder/physical_decoder/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/physical_decoder/utils.py -------------------------------------------------------------------------------- /physical_decoder/requirements.txt: -------------------------------------------------------------------------------- 1 | numpy==1.26.1 2 | setuptools==68.2.2 3 | torch -------------------------------------------------------------------------------- /physical_decoder/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder/setup.py -------------------------------------------------------------------------------- /physical_decoder_training/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/.gitignore -------------------------------------------------------------------------------- /physical_decoder_training/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/requirements.txt -------------------------------------------------------------------------------- /physical_decoder_training/train_eval.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/train_eval.py -------------------------------------------------------------------------------- /physical_decoder_training/training_utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/training_utils/__init__.py -------------------------------------------------------------------------------- /physical_decoder_training/training_utils/data_manager.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/training_utils/data_manager.py -------------------------------------------------------------------------------- /physical_decoder_training/training_utils/dataset_analysis.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/training_utils/dataset_analysis.py -------------------------------------------------------------------------------- /physical_decoder_training/training_utils/lightning_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/training_utils/lightning_wrapper.py -------------------------------------------------------------------------------- /physical_decoder_training/training_utils/loss_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/training_utils/loss_wrapper.py -------------------------------------------------------------------------------- /physical_decoder_training/training_utils/run_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/training_utils/run_config.py -------------------------------------------------------------------------------- /physical_decoder_training/training_utils/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/physical_terrain_parameter_learning/HEAD/physical_decoder_training/training_utils/utils.py --------------------------------------------------------------------------------