├── .dockerignore ├── .flake8 ├── .gitattributes ├── .gitignore ├── .pre-commit-config.yaml ├── .vscode ├── .gitignore ├── extensions.json ├── tasks.json └── tools │ ├── launch.template.json │ ├── settings.template.json │ └── setup_vscode.py ├── LICENCE ├── README.md ├── docker ├── .env.base ├── Dockerfile └── docker-compose.yaml ├── pyproject.toml ├── scripts ├── list_envs.py ├── rename_template.py └── rsl_rl │ ├── cli_args.py │ ├── play.py │ └── train.py └── source └── legged_lab ├── config └── extension.toml ├── docs └── CHANGELOG.rst ├── legged_lab ├── __init__.py ├── assets │ └── unitree.py ├── data │ ├── MotionData │ │ └── .gitignore │ └── Robots │ │ └── .gitignore ├── envs │ ├── __init__.py │ ├── manager_based_amp_env.py │ └── manager_based_amp_env_cfg.py ├── managers │ ├── __init__.py │ ├── motion_data_manager.py │ └── motion_data_term_cfg.py ├── rsl_rl │ ├── __init__.py │ ├── amp_cfg.py │ ├── exporter.py │ └── rl_cfg.py ├── sensors │ ├── __init__.py │ └── ray_caster_array_cfg.py ├── tasks │ ├── __init__.py │ └── locomotion │ │ ├── __init__.py │ │ ├── amp │ │ ├── __init__.py │ │ ├── amp_env_cfg.py │ │ ├── config │ │ │ ├── __init__.py │ │ │ └── g1 │ │ │ │ ├── __init__.py │ │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ │ ├── amp_flat_env_cfg.py │ │ │ │ └── amp_rough_env_cfg.py │ │ └── mdp │ │ │ ├── __init__.py │ │ │ ├── events.py │ │ │ ├── observations.py │ │ │ └── rewards.py │ │ └── velocity │ │ ├── __init__.py │ │ ├── config │ │ ├── __init__.py │ │ ├── anymal_d │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ ├── flat_env_cfg.py │ │ │ └── rough_env_cfg.py │ │ ├── g1 │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ │ ├── __init__.py │ │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ ├── flat_env_cfg.py │ │ │ ├── rough_env_cfg.py │ │ │ └── scandots_rough_env_cfg.py │ │ └── go2 │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ ├── __init__.py │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ ├── flat_env_cfg.py │ │ │ ├── rough_env_cfg.py │ │ │ └── scandots_rough_env_cfg.py │ │ ├── mdp │ │ ├── __init__.py │ │ ├── curriculums.py │ │ ├── observations.py │ │ ├── rewards.py │ │ └── terminations.py │ │ └── velocity_env_cfg.py ├── ui_extension_example.py └── utils │ ├── .gitignore │ ├── export_deploy_cfg.py │ ├── math.py │ ├── print_lab_joint_names.py │ ├── print_motion_names.py │ └── vis_retargeted.py ├── pyproject.toml ├── setup.py └── test ├── test_amp_observations.py ├── test_ang_vel_from_quat_diff.py ├── test_contact.py ├── test_frame_transformer.py ├── test_motion_data.py ├── test_motion_loader.py ├── test_motion_loader_2.py ├── test_scandots_env_cfg.py ├── test_terrain_1.py └── test_terrain_2.py /.dockerignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zitongbai/legged_lab/HEAD/.dockerignore -------------------------------------------------------------------------------- /.flake8: 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