├── LICENSE ├── README.md ├── Screenshot from 2025-09-08 19-42-46.png ├── core ├── __pycache__ │ ├── __init__.cpython-310.pyc │ ├── deployment_player.cpython-310.pyc │ ├── go2_robot.cpython-310.pyc │ ├── joystick_controller.cpython-310.pyc │ ├── network.cpython-310.pyc │ ├── runner.cpython-310.pyc │ ├── ternimation.cpython-310.pyc │ └── utils.cpython-310.pyc ├── deployment_player.py ├── docker │ └── Dockerfile ├── eval_helper │ ├── evaluator.py │ └── recoder.py ├── go2 │ ├── Go2.png │ ├── assets │ │ ├── base_0.obj │ │ ├── base_1.obj │ │ ├── base_2.obj │ │ ├── base_3.obj │ │ ├── base_4.obj │ │ ├── calf_0.obj │ │ ├── calf_1.obj │ │ ├── calf_mirror_0.obj │ │ ├── calf_mirror_1.obj │ │ ├── foot.obj │ │ ├── hip_0.obj │ │ ├── hip_1.obj │ │ ├── thigh_0.obj │ │ ├── thigh_1.obj │ │ ├── thigh_mirror_0.obj │ │ └── thigh_mirror_1.obj │ ├── go2.urdf │ ├── go2.xml │ ├── height_field.png │ ├── scene.xml │ ├── scene_parkour.xml │ └── terrain.png ├── nerual_networks │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── actor_critic_with_encoder.cpython-310.pyc │ │ ├── distillation_with_extractor.cpython-310.pyc │ │ ├── on_policy_runner_with_extractor.cpython-310.pyc │ │ └── ppo_with_extractor.cpython-310.pyc │ ├── actor_critic_with_encoder.py │ ├── distillation_with_extractor.py │ ├── feature_extractors │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── depth_backbone.cpython-310.pyc │ │ │ ├── estimator.cpython-310.pyc │ │ │ └── state_encoder.cpython-310.pyc │ │ ├── depth_backbone.py │ │ ├── estimator.py │ │ └── state_encoder.py │ ├── on_policy_runner_with_extractor.py │ └── ppo_with_extractor.py ├── runner.py └── utils.py ├── mujoco_deploy ├── __pycache__ │ ├── mujoco_env.cpython-310.pyc │ └── mujoco_wrapper.cpython-310.pyc ├── mujoco_env.py ├── mujoco_sensors │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── mujoco_articulation.cpython-310.pyc │ │ ├── mujoco_base_sensor.cpython-310.pyc │ │ ├── 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