├── .gitignore ├── LICENSE ├── README.md ├── docs ├── .nojekyll └── index.html ├── resources ├── go2 │ ├── 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.xml │ ├── height_field.png │ ├── scene_terrain.xml │ └── unitree_hfield.png ├── images │ └── mujoco.png └── policies │ ├── HIM_policy.pt │ ├── kp_kd_random_policy.pt │ └── policy_with_45_obs.pt └── src ├── base_velocity_estimator ├── CMakeLists.txt ├── config │ └── go2.yaml ├── include │ └── base_velocity_estimator │ │ ├── ekf_velocity_estimator.hpp │ │ ├── imu_velocity_estimator_node.hpp │ │ └── kinematics_velocity_estimator_node.hpp ├── package.xml ├── scripts │ ├── __pycache__ │ │ └── xbox_command.cpython-38.pyc │ ├── mujoco_simulator.py │ ├── test.py │ └── xbox_command.py └── src │ ├── ekf_velocity_estimator.cpp │ ├── imu_velocity_estimator_node.cpp │ ├── kinematics_velocity_estimator_node.cpp │ └── main.cpp └── deploy_rl_policy ├── CMakeLists.txt ├── configs └── go2.yaml ├── include ├── common │ ├── cxxopts.hpp │ └── motor_crc.h └── deploy_real │ └── low_level_ctrl.hpp ├── package.xml ├── scripts ├── __pycache__ │ ├── config.cpython-38.pyc │ └── xbox_command.cpython-38.pyc ├── config.py ├── mujoco_simulator.py ├── pinocchio_equilibrium.py ├── record_torque.py ├── rl_policy.py └── xbox_command.py └── src ├── common └── motor_crc.cpp └── low_level_ctrl.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | build 2 | install 3 | log 4 | .vscode 5 | .history 6 | **/__pycache__ -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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