├── .gitignore ├── README.md ├── experimental_legged ├── __init__.py ├── config │ ├── __init__.py │ ├── pose │ │ ├── __init__.py │ │ └── anymal_c │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ ├── __init__.py │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ ├── standup_pose_flat_env_cfg.py │ │ │ └── standup_pose_rough_env_cfg.py │ └── velocity │ │ ├── __init__.py │ │ └── anymal_c │ │ ├── __init__.py │ │ ├── agents │ │ ├── __init__.py │ │ └── rsl_rl_ppo_cfg.py │ │ ├── standup_velocity_flat_env_cfg.py │ │ └── standup_velocity_rough_env_cfg.py ├── mdp │ ├── __init__.py │ ├── commands │ │ ├── __init__.py │ │ ├── commands_cfg.py │ │ ├── pose_2d_command.py │ │ └── velocity_command.py │ ├── curriculums.py │ ├── custom_pre_trained_policy_action.py │ ├── rewards.py │ ├── rewards_misc.py │ └── terminations.py ├── policy │ ├── experimental_legged_standup_pose_rough_policy_1700_250201 │ │ ├── exported │ │ │ ├── policy.onnx │ │ │ └── policy.pt │ │ └── model.pt │ └── experimental_legged_standup_velocity_rough_policy_50000_250118 │ │ ├── exported │ │ ├── policy.onnx │ │ └── policy.pt │ │ └── model.pt ├── standup_pose_env_cfg.py └── standup_velocity_env_cfg.py ├── experimental_quadcopter ├── __init__.py ├── agents │ ├── __init__.py │ └── rsl_rl_ppo_cfg.py ├── policy │ └── experimental_quadcopter_forest_pose_policy_17000_250203 │ │ ├── exported │ │ ├── policy.onnx │ │ └── policy.pt │ │ └── model.pt └── quadcopter_env.py ├── experimental_utils ├── experimental_sensors │ ├── custom_ray_caster.py │ └── custom_ray_caster_cfg.py └── experimental_terrains │ ├── __init__.py │ ├── config │ ├── _init__.py │ ├── legged_rough.py │ └── quadcopter_rough.py │ └── trimesh │ ├── __init__.py │ ├── mesh_terrains.py │ └── mesh_terrains_cfg.py ├── media ├── legged_standup_pose_rough_short.gif └── quadcopter_forest_pose_short.gif ├── omniverse_backup_assets ├── README.md ├── anymal_c.usd └── cf2x.usd ├── scripts ├── README.md ├── play_legged_pose_path_rough.sh ├── play_legged_pose_rough.sh ├── play_legged_velocity_rough.sh ├── play_quad_pose.sh ├── train_legged_pose_rough.sh ├── train_legged_velocity_rough.sh └── train_quad_pose.sh └── trained_policies ├── experimental_legged_standup_pose_rough_policy_1700_250201 ├── exported │ ├── policy.onnx │ └── policy.pt └── model.pt ├── experimental_legged_standup_velocity_rough_policy_50000_250118 ├── exported │ ├── policy.onnx │ └── policy.pt └── model.pt └── experimental_quadcopter_forest_pose_policy_17000_250203 ├── exported ├── policy.onnx └── policy.pt └── model.pt /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nicolaloi/Reinforcement-Learning-Isaac-Lab-Projects/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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