Developer Guide

Parameter Reference

• legged_robot_config.py

API Reference

• PPO Algorithm Variants
• legged_robot.py - LeggedRobot Class API Reference
• Simulator API Reference
• TaskRegistry API Reference

How-To Guides

• Adding a New Robot to LeggedGym-Ex
• Adding a New RL Method
• Developing Custom Reward Functions
• Domain Randomization Tuning Guide

Known Issues

• Genesis