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| <title>LeggedGym Structure Diagram</title> | |
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| <body class="bg-gray-50 min-h-screen py-8 px-4"> | |
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| <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> | |
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| </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> | |
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