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isaacgym
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<!DOCTYPE html>
<html lang="en">
<head>
    <meta charset="UTF-8">
    <meta name="viewport" content="width=device-width, initial-scale=1.0">
    <title>LeggedGym Structure Diagram</title>
    <script src="https://cdn.tailwindcss.com"></script>
    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.4.0/css/all.min.css">
    <style>
        .connector {
            position: relative;
        }
        .connector::after {
            content: '';
            position: absolute;
            top: 100%;
            left: 50%;
            width: 2px;
            height: 20px;
            background-color: #4b5563;
            transform: translateX(-50%);
        }
        .horizontal-connector {
            position: relative;
        }
        .horizontal-connector::after {
            content: '';
            position: absolute;
            top: 50%;
            left: 100%;
            width: 20px;
            height: 2px;
            background-color: #4b5563;
        }
        @media (max-width: 768px) {
            .mobile-stack {
                flex-direction: column;
            }
            .mobile-stack .horizontal-connector::after {
                width: 0;
                height: 20px;
                top: 100%;
                left: 50%;
                transform: translateX(-50%);
            }
        }
    </style>
</head>
<body class="bg-gray-50 min-h-screen py-8 px-4">
    <div class="max-w-6xl mx-auto">
        <h1 class="text-3xl font-bold text-center text-gray-800 mb-2">
            <i class="fas fa-robot mr-2 text-blue-500"></i>LeggedGym Architecture
        </h1>
        <p class="text-center text-gray-600 mb-8">A modular framework for legged robot learning</p>
        
        <div class="bg-white rounded-xl shadow-lg p-6 mb-8">
            <!-- Main Structure -->
            <div class="flex flex-col items-center">
                <!-- Top Level -->
                <div class="bg-blue-600 text-white px-6 py-3 rounded-lg shadow-md text-center mb-6 connector">
                    <h2 class="font-bold text-xl">LeggedGym Core</h2>
                    <p class="text-sm opacity-80">Main framework for legged robot training</p>
                </div>
                
                <!-- Second Level -->
                <div class="flex mobile-stack justify-center gap-8 mb-6">
                    <!-- Simulation Module -->
                    <div class="flex flex-col items-center">
                        <div class="bg-purple-500 text-white px-5 py-2 rounded-lg shadow-sm text-center mb-6 connector">
                            <h3 class="font-semibold"><i class="fas fa-cube mr-1"></i> Simulation</h3>
                            <p class="text-xs opacity-80">Physics engine integration</p>
                        </div>
                        
                        <!-- Simulation Children -->
                        <div class="flex mobile-stack gap-4">
                            <div class="bg-purple-300 px-4 py-2 rounded text-center text-sm horizontal-connector">
                                <i class="fas fa-cogs mr-1"></i> Isaac Gym
                            </div>
                            <div class="bg-purple-300 px-4 py-2 rounded text-center text-sm">
                                <i class="fas fa-project-diagram mr-1"></i> PyBullet
                            </div>
                        </div>
                    </div>
                    
                    <!-- Learning Module -->
                    <div class="flex flex-col items-center">
                        <div class="bg-green-500 text-white px-5 py-2 rounded-lg shadow-sm text-center mb-6 connector">
                            <h3 class="font-semibold"><i class="fas fa-brain mr-1"></i> Learning</h3>
                            <p class="text-xs opacity-80">RL algorithms & policies</p>
                        </div>
                        
                        <!-- Learning Children -->
                        <div class="flex mobile-stack gap-4">
                            <div class="bg-green-300 px-4 py-2 rounded text-center text-sm horizontal-connector">
                                <i class="fas fa-network-wired mr-1"></i> PPO
                            </div>
                            <div class="bg-green-300 px-4 py-2 rounded text-center text-sm horizontal-connector">
                                <i class="fas fa-random mr-1"></i> SAC
                            </div>
                            <div class="bg-green-300 px-4 py-2 rounded text-center text-sm">
                                <i class="fas fa-route mr-1"></i> AMP
                            </div>
                        </div>
                    </div>
                    
                    <!-- Robot Interface -->
                    <div class="flex flex-col items-center">
                        <div class="bg-yellow-500 text-white px-5 py-2 rounded-lg shadow-sm text-center mb-6 connector">
                            <h3 class="font-semibold"><i class="fas fa-robot mr-1"></i> Robot Interface</h3>
                            <p class="text-xs opacity-80">Hardware abstraction</p>
                        </div>
                        
                        <!-- Robot Children -->
                        <div class="flex mobile-stack gap-4">
                            <div class="bg-yellow-300 px-4 py-2 rounded text-center text-sm horizontal-connector">
                                <i class="fas fa-paw mr-1"></i> ANYmal
                            </div>
                            <div class="bg-yellow-300 px-4 py-2 rounded text-center text-sm">
                                <i class="fas fa-dog mr-1"></i> Unitree
                            </div>
                        </div>
                    </div>
                </div>
                
                <!-- Third Level -->
                <div class="bg-blue-400 text-white px-6 py-3 rounded-lg shadow-md text-center">
                    <h2 class="font-bold"><i class="fas fa-tasks mr-1"></i> Applications</h2>
                    <div class="flex flex-wrap justify-center gap-3 mt-2">
                        <span class="bg-blue-200 text-blue-800 px-3 py-1 rounded-full text-xs">Locomotion</span>
                        <span class="bg-blue-200 text-blue-800 px-3 py-1 rounded-full text-xs">Manipulation</span>
                        <span class="bg-blue-200 text-blue-800 px-3 py-1 rounded-full text-xs">Navigation</span>
                        <span class="bg-blue-200 text-blue-800 px-3 py-1 rounded-full text-xs">Recovery</span>
                    </div>
                </div>
            </div>
        </div>
        
        <div class="grid md:grid-cols-3 gap-6">
            <div class="bg-white p-4 rounded-lg shadow">
                <h3 class="font-semibold text-blue-600 mb-2"><i class="fas fa-cube mr-2"></i>Key Features</h3>
                <ul class="text-sm text-gray-600 space-y-1">
                    <li><i class="fas fa-check-circle text-green-500 mr-1"></i> GPU-accelerated simulation</li>
                    <li><i class="fas fa-check-circle text-green-500 mr-1"></i> Modular architecture</li>
                    <li><i class="fas fa-check-circle text-green-500 mr-1"></i> Multi-robot support</li>
                    <li><i class="fas fa-check-circle text-green-500 mr-1"></i> Curriculum learning</li>
                </ul>
            </div>
            <div class="bg-white p-4 rounded-lg shadow">
                <h3 class="font-semibold text-purple-600 mb-2"><i class="fas fa-exchange-alt mr-2"></i>Data Flow</h3>
                <div class="text-sm text-gray-600">
                    <p class="mb-1"><i class="fas fa-arrow-right text-purple-500 mr-1"></i> Observations → Policy</p>
                    <p class="mb-1"><i class="fas fa-arrow-right text-purple-500 mr-1"></i> Actions → Simulation</p>
                    <p><i class="fas fa-sync-alt text-purple-500 mr-1"></i> Reward calculation</p>
                </div>
            </div>
            <div class="bg-white p-4 rounded-lg shadow">
                <h3 class="font-semibold text-green-600 mb-2"><i class="fas fa-code-branch mr-2"></i>Extensions</h3>
                <div class="text-sm text-gray-600">
                    <p><i class="fas fa-plus-circle text-green-500 mr-1"></i> Custom environments</p>
                    <p><i class="fas fa-plus-circle text-green-500 mr-1"></i> New robot models</p>
                    <p><i class="fas fa-plus-circle text-green-500 mr-1"></i> Alternative algorithms</p>
                </div>
            </div>
        </div>
    </div>
<p style="border-radius: 8px; text-align: center; font-size: 12px; color: #fff; margin-top: 16px;position: fixed; left: 8px; bottom: 8px; z-index: 10; background: rgba(0, 0, 0, 0.8); padding: 4px 8px;">Made with <img src="https://enzostvs-deepsite.hf.space/logo.svg" alt="DeepSite Logo" style="width: 16px; height: 16px; vertical-align: middle;display:inline-block;margin-right:3px;filter:brightness(0) invert(1);"><a href="https://enzostvs-deepsite.hf.space" style="color: #fff;text-decoration: underline;" target="_blank" >DeepSite</a> - 🧬 <a href="https://enzostvs-deepsite.hf.space?remix=MightyCrane/isaacgym" style="color: #fff;text-decoration: underline;" target="_blank" >Remix</a></p></body>
</html>