├── .gitignore ├── .gitmodules ├── CITATION.cff ├── README.md ├── gpu_rl ├── LICENSE ├── README.md ├── licenses │ └── dependencies │ │ ├── numpy_license.txt │ │ └── torch_license.txt ├── rsl_rl.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ ├── requires.txt │ └── top_level.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 │ │ └── custom_networks.py │ ├── runners │ │ ├── __init__.py │ │ └── on_policy_runner.py │ ├── storage │ │ ├── __init__.py │ │ └── rollout_storage.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py └── setup.py ├── gpugym ├── __init__.py ├── envs │ ├── PBRS │ │ ├── humanoid.py │ │ └── humanoid_config.py │ ├── __init__.py │ └── base │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── fixed_robot.py │ │ ├── fixed_robot_config.py │ │ ├── legged_robot.py │ │ └── legged_robot_config.py ├── scripts │ ├── play.py │ └── train.py ├── tests │ └── test_env.py └── utils │ ├── __init__.py │ ├── augmentor.py │ ├── contact_scheduler.py │ ├── helpers.py │ ├── logger.py │ ├── math.py │ ├── task_registry.py │ ├── terrain.py │ └── wandb_helper.py ├── licenses ├── assets │ ├── ANYmal_b_license.txt │ ├── ANYmal_c_license.txt │ ├── a1_license.txt │ └── cassie_license.txt └── dependencies │ └── matplotlib_license.txt ├── plotgraph.py ├── resources └── robots │ └── ncstate_humanoid │ ├── STLs │ ├── FOOT.stl │ ├── hip abduct.stl │ ├── hip flex 1.stl │ ├── shank.stl │ ├── simplify_torso low quality.stl │ ├── thigh.stl │ ├── torso low quality.stl │ ├── torso with arms simplified.stl │ ├── torso with arms.stl │ └── torso with arms_3dless_com_simplified.stl │ └── big_chungus.urdf ├── reward_log.csv └── setup.py /.gitignore: -------------------------------------------------------------------------------- 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