AnalisiTracking: File to characterize the results of velocity tracking tests. You insert the data collected and the file creates comparison and characterization plots.

Curriculum_Terrain: File to compare the terrains projected.

DomainRandomization: File to help the design of the Domain Randomization of OmniveseGym of Isaac-Sim API. You set the same parameters that you would use in the training and the code automatically adapts to the parameters used and shows in the command window a recap of the randomization used. You can see how the parameters will change during the training.

FadingFilter_usage: Implementation of many fading filters and Kalman filter to smooth the imu data.

Reward: File to design the reward function.