├── .gitignore ├── .gitmodules ├── CITATION.cff ├── GBC ├── __init__.py ├── gyms │ ├── __init__.py │ ├── isaacgym │ │ └── readme.md │ └── isaaclab_45 │ │ ├── README.md │ │ ├── __init__.py │ │ ├── envs │ │ ├── __init__.py │ │ ├── manager_based_ref_rl_env.py │ │ └── manager_based_ref_rl_env_cfg.py │ │ ├── lab_assets │ │ ├── __init__.py │ │ ├── fourier.py │ │ ├── turin_v3.py │ │ ├── turing.py │ │ └── unitree.py │ │ ├── lab_tasks │ │ ├── __init__.py │ │ ├── curriculum_utils.py │ │ ├── mdp.py │ │ ├── turin_v3 │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ ├── rsl_rl_ppo_cfg.py │ │ │ │ ├── rsl_rl_ref_ppo_cfg.py │ │ │ │ ├── skrl_flat_ppo_cfg.yaml │ │ │ │ └── skrl_rough_ppo_cfg.yaml │ │ │ ├── dagger_env_cfg.py │ │ │ ├── flat_env_cfg.py │ │ │ └── rough_env_cfg.py │ │ ├── unitree_g1 │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ ├── rsl_rl_ppo_cfg.py │ │ │ │ ├── rsl_rl_ref_ppo_cfg.py │ │ │ │ ├── skrl_flat_ppo_cfg.yaml │ │ │ │ └── skrl_rough_ppo_cfg.yaml │ │ │ ├── dagger_env_cfg.py │ │ │ ├── flat_env_cfg.py │ │ │ └── rough_env_cfg.py │ │ └── utils │ │ │ └── wrappers │ │ │ └── rsl_rl │ │ │ ├── __init__.py │ │ │ ├── onnx_exporter.py │ │ │ ├── ref_vecenv_wrapper.py │ │ │ └── rl_ref_cfg.py │ │ ├── managers │ │ ├── __init__.py │ │ ├── physics_modifier_cfg.py │ │ ├── physics_modifier_function_wrapper.py │ │ ├── physics_modifier_manager.py │ │ ├── ref_command_manager.py │ │ ├── ref_obs_term_cfg.py │ │ └── ref_observation_manager.py │ │ └── workflows │ │ ├── rl_games │ │ ├── play.py │ │ └── train.py │ │ └── rsl_rl │ │ ├── cli_args.py │ │ ├── play.py │ │ ├── play_ref.py │ │ ├── play_with_info.py │ │ └── train.py ├── utils │ ├── __init__.py │ ├── base │ │ ├── __init__.py │ │ ├── assets.py │ │ ├── base_fk.py │ │ ├── config_class.py │ │ ├── filters.py │ │ └── math_utils.py │ ├── buffer │ │ ├── __init__.py │ │ └── ref_buffer.py │ ├── data_preparation │ │ ├── __init__.py │ │ ├── amass_action_converter.py │ │ ├── amass_loader.py │ │ ├── create_smplh.py │ │ ├── data_preparation_cfg.py │ │ ├── download_amass.py │ │ ├── pose_transformer.py │ │ ├── pose_transformer_trainer.py │ │ ├── prepare_accad_data.py │ │ ├── render_track_videos.py │ │ ├── robot_flip_left_right.py │ │ └── robot_visualizer.py │ ├── git │ │ ├── fetch.sh │ │ └── isaacsim_branch_synchronizer.py │ └── thirdparties │ │ ├── unitree │ │ └── unitree_retargeting_converter.py │ │ └── wham │ │ └── convert_wham.py └── viewer │ ├── __init__.py │ └── isaacsim_viewer.py ├── LICENSE ├── README.md ├── docs └── images │ ├── MMTransformer.png │ ├── isaacsim_demo.png │ ├── logo.png │ ├── mujoco_demo.png │ └── retargeting_pipeline.png ├── licenses ├── LICENSE_isaaclab ├── LICENSE_isaaclab-mimic ├── LICENSE_networkx ├── LICENSE_numpy ├── LICENSE_onnx ├── LICENSE_open3d ├── LICENSE_opencv ├── LICENSE_pillow ├── LICENSE_pyrender ├── LICENSE_pytorch ├── LICENSE_pytorch_kinematics ├── LICENSE_rsl-rl └── LICENSE_scipy ├── requirements.txt ├── resources 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