├── .gitignore ├── README.md ├── auto_play.bash ├── auto_sim2sim.bash ├── auto_train16384.bash ├── auto_train4096.bash ├── auto_train4096resume.bash ├── humanoid ├── __init__.py ├── algo │ ├── __init__.py │ ├── ppo │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── on_policy_runner.py │ │ ├── ppo.py │ │ └── rollout_storage.py │ └── vec_env.py ├── envs │ ├── __init__.py │ ├── base │ │ ├── LICENSE │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── legged_robot.py │ │ └── legged_robot_config.py │ └── pai │ │ ├── pai_config.py │ │ └── pai_env.py ├── scripts │ ├── compare_py&onnx.py │ ├── play.py │ ├── sim2sim.py │ └── train.py └── utils │ ├── __init__.py │ ├── calculate_gait.py │ ├── helpers.py │ ├── logger.py │ ├── math.py │ ├── task_registry.py │ └── terrain.py ├── image └── README │ ├── 1730344376083.png │ ├── 1730344807251.png │ ├── 1730344921405.png │ └── 飞书20250630-092216.mp4 ├── logs └── Pai_ppo │ └── exported │ └── policies │ ├── policy.onnx │ └── policy_example.pt ├── pi_rl_control.egg-info ├── PKG-INFO ├── SOURCES.txt ├── dependency_links.txt ├── requires.txt └── top_level.txt ├── resources └── robots │ └── pi_12dof_release_v1 │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ ├── joint_names_pi_12dof_release_v1.yaml │ └── urdf.rviz │ ├── image │ └── README │ │ └── 1728285413694.png │ ├── launch │ ├── display.launch │ └── gazebo.launch │ ├── meshes │ ├── base_link.STL │ ├── baselink_1.STL │ ├── l_ankle_pitch_link.STL │ ├── l_ankle_roll_link.STL │ ├── l_calf_link.STL │ ├── l_hip_pitch_link.STL │ ├── l_hip_roll_link.STL │ ├── l_thigh_link.STL │ ├── r_ankle_pitch_link.STL │ ├── r_ankle_roll_link.STL │ ├── r_calf_link.STL │ ├── r_hip_pitch_link.STL │ ├── r_hip_roll_link.STL │ └── r_thigh_link.STL │ ├── mjcf │ └── pi_12dof_release_v1.xml │ ├── package.xml │ └── urdf │ ├── pi_12dof_release_v1.csv │ ├── pi_12dof_release_v1.urdf │ └── pi_12dof_release_v1_rl.urdf ├── setup.py ├── sim2sim_robot_states.csv ├── sine_wave.png ├── 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