# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: BSD-3-Clause
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# Copyright (c) 2021 ETH Zurich, <NAME>

from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
from legged_gym.envs.a1.a1_config import A1RoughCfg, A1RoughCfgPPO
from .base.legged_robot import LeggedRobot

from .anymal_c.anymal import Anymal
from .aliengo.aliengo import Aliengo

from .aliengo.mixed_terrains.aliengo_rough_config import (
    AliengoRoughCfg,
    AliengoRoughCfgPPO,
)
from .aliengo.flat.aliengo_flat_config import AliengoFlatCfg, AliengoFlatCfgPPO
from .aliengo.mixed_terrains.aliengo_obs_config import AliengoObsCfg, AliengoObsCfgPPO
from .aliengo.mixed_terrains.aliengo_lbc_config import AliengoLbcCfg, AliengoLbcCfgPPO


from .anymal_c.mixed_terrains.anymal_c_rough_config import (
    AnymalCRoughCfg,
    AnymalCRoughCfgPPO,
)
from .anymal_c.flat.anymal_c_flat_config import AnymalCFlatCfg, AnymalCFlatCfgPPO

from .anymal_b.anymal_b_config import AnymalBRoughCfg, AnymalBRoughCfgPPO
from .cassie.cassie import Cassie
from .cassie.cassie_config import CassieRoughCfg, CassieRoughCfgPPO
from .a1.a1_config import A1RoughCfg, A1RoughCfgPPO


import os

from legged_gym.utils.task_registry import task_registry

task_registry.register(
    "anymal_c_rough", Anymal, AnymalCRoughCfg(), AnymalCRoughCfgPPO()
)
task_registry.register("anymal_c_flat", Anymal, AnymalCFlatCfg(), AnymalCFlatCfgPPO())
task_registry.register("aliengo_flat", Aliengo, AliengoFlatCfg(), AliengoFlatCfgPPO())
task_registry.register(
    "aliengo_rough", Aliengo, AliengoRoughCfg(), AliengoRoughCfgPPO()
)
task_registry.register("aliengo_obs", Aliengo, AliengoObsCfg(), AliengoObsCfgPPO())
task_registry.register("aliengo_lbc", Aliengo, AliengoLbcCfg(), AliengoLbcCfgPPO())
task_registry.register("anymal_b", Anymal, AnymalBRoughCfg(), AnymalBRoughCfgPPO())
task_registry.register("a1", LeggedRobot, A1RoughCfg(), A1RoughCfgPPO())
task_registry.register("cassie", Cassie, CassieRoughCfg(), CassieRoughCfgPPO())

# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: BSD-3-Clause
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# Copyright (c) 2021 ETH Zurich, <NAME>

from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
from legged_gym.envs.a1.a1_config import A1RoughCfg, A1RoughCfgPPO
from .base.legged_robot import LeggedRobot

from .anymal_c.anymal import Anymal
from .aliengo.aliengo import Aliengo

from .aliengo.mixed_terrains.aliengo_rough_config import (
    AliengoRoughCfg,
    AliengoRoughCfgPPO,
)
from .aliengo.flat.aliengo_flat_config import AliengoFlatCfg, AliengoFlatCfgPPO
from .aliengo.mixed_terrains.aliengo_obs_config import AliengoObsCfg, AliengoObsCfgPPO
from .aliengo.mixed_terrains.aliengo_lbc_config import AliengoLbcCfg, AliengoLbcCfgPPO


from .anymal_c.mixed_terrains.anymal_c_rough_config import (
    AnymalCRoughCfg,
    AnymalCRoughCfgPPO,
)
from .anymal_c.flat.anymal_c_flat_config import AnymalCFlatCfg, AnymalCFlatCfgPPO

from .anymal_b.anymal_b_config import AnymalBRoughCfg, AnymalBRoughCfgPPO
from .cassie.cassie import Cassie
from .cassie.cassie_config import CassieRoughCfg, CassieRoughCfgPPO
from .a1.a1_config import A1RoughCfg, A1RoughCfgPPO


import os

from legged_gym.utils.task_registry import task_registry

task_registry.register(
    "anymal_c_rough", Anymal, AnymalCRoughCfg(), AnymalCRoughCfgPPO()
)
task_registry.register("anymal_c_flat", Anymal, AnymalCFlatCfg(), AnymalCFlatCfgPPO())
task_registry.register("aliengo_flat", Aliengo, AliengoFlatCfg(), AliengoFlatCfgPPO())
task_registry.register(
    "aliengo_rough", Aliengo, AliengoRoughCfg(), AliengoRoughCfgPPO()
)
task_registry.register("aliengo_obs", Aliengo, AliengoObsCfg(), AliengoObsCfgPPO())
task_registry.register("aliengo_lbc", Aliengo, AliengoLbcCfg(), AliengoLbcCfgPPO())
task_registry.register("anymal_b", Anymal, AnymalBRoughCfg(), AnymalBRoughCfgPPO())
task_registry.register("a1", LeggedRobot, A1RoughCfg(), A1RoughCfgPPO())
task_registry.register("cassie", Cassie, CassieRoughCfg(), CassieRoughCfgPPO())

# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # SPDX-License-Identifier: BSD-3-Clause # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # 1. Redistributions of source code must retain the above copyright notice, this # list of conditions and the following disclaimer. # # 2. Redistributions in binary form must reproduce the above copyright notice, # this list of conditions and the following disclaimer in the documentation # and/or other materials provided with the distribution. # # 3. Neither the name of the copyright holder nor the names of its # contributors may be used to endorse or promote products derived from # this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. # # Copyright (c) 2021 ETH Zurich, <NAME>