├── .gitignore ├── README.md ├── algorithm ├── __init__.py └── ppo.py ├── configs ├── __init__.py ├── base_config.py ├── go2_config.py └── legged_robot_config.py ├── encoder.jit ├── envs ├── __init__.py ├── base_task.py ├── legged_robot.py └── vec_env.py ├── global_config.py ├── imgs └── main.png ├── modules ├── __init__.py ├── actor_critic_slr.py ├── common_modules.py └── normalizer.py ├── play.py ├── policy.jit ├── resources └── go2 │ ├── dae │ ├── base.dae │ ├── calf.dae │ ├── calf_mirror.dae │ ├── foot.dae │ ├── hip.dae │ ├── thigh.dae │ └── thigh_mirror.dae │ └── urdf │ └── go2.urdf ├── runner ├── __init__.py ├── on_policy_runner.py └── rollout_storage.py ├── setup.py ├── train.py └── utils ├── __init__.py ├── helpers.py ├── logger.py ├── math.py ├── task_registry.py ├── terrain.py └── utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/11chens/SLR-master/HEAD/.gitignore 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