├── .gitignore ├── README.md ├── csrc ├── Makefile ├── host.cpp ├── libudp.c └── libudp.so ├── datasets ├── bump │ └── bump.json ├── hopturn │ └── hopturn.txt ├── keypoint_datasets │ └── ai4animation │ │ ├── LICENSE.txt │ │ ├── dog_clips_info.txt │ │ ├── dog_pace_joint_pos.txt │ │ ├── dog_pace_pose.txt │ │ ├── dog_run00_joint_pos.txt │ │ ├── dog_run00_pose.txt │ │ ├── dog_run01_joint_pos.txt │ │ ├── dog_run01_pose.txt │ │ ├── dog_run02_joint_pos.txt │ │ ├── dog_run02_pose.txt │ │ ├── dog_run04_joint_pos.txt │ │ ├── dog_run04_pose.txt │ │ ├── dog_trot_joint_pos.txt │ │ ├── dog_trot_pose.txt │ │ ├── dog_turn00_joint_pos.txt │ │ ├── dog_turn00_pose.txt │ │ ├── dog_walk00_joint_pos.txt │ │ ├── dog_walk00_pose.txt │ │ ├── dog_walk01_joint_pos.txt │ │ ├── dog_walk01_pose.txt │ │ ├── dog_walk02_joint_pos.txt │ │ ├── dog_walk02_pose.txt │ │ ├── dog_walk03_joint_pos.txt │ │ ├── dog_walk03_pose.txt │ │ ├── dog_walk04_joint_pos.txt │ │ ├── dog_walk04_pose.txt │ │ ├── dog_walk05_joint_pos.txt │ │ ├── dog_walk05_pose.txt │ │ ├── dog_walk06_joint_pos.txt │ │ ├── dog_walk06_pose.txt │ │ ├── dog_walk09_joint_pos.txt │ │ └── dog_walk09_pose.txt ├── mocap_motions │ ├── leftturn0.txt │ ├── pace0.txt │ ├── pace1.txt │ ├── rightturn0.txt │ ├── trot0.txt │ └── trot1.txt ├── mocap_motions_a1 │ ├── canter0.txt │ ├── canter1.txt │ ├── canter2.txt │ ├── left_turn0.txt │ ├── left_turn1.txt │ ├── pace0.txt │ ├── pace1.txt │ ├── pace2.txt │ ├── right_turn0.txt │ ├── right_turn1.txt │ ├── trot0.txt │ ├── trot1.txt │ └── trot2.txt ├── mocap_motions_cyberdog2 │ ├── left_turn0.txt │ ├── pace1.txt │ ├── pace2.txt │ ├── right_turn0.txt │ ├── right_turn1.txt │ ├── trot0.txt │ └── trot1.txt ├── pace0.txt ├── pace1.txt ├── retarget_config_a1.py ├── retarget_config_cyberdog2.py ├── retarget_kp_motions.py └── retarget_utils.py ├── diffusion_policy ├── config_files │ ├── cyber_diffusion_policy_medium_model.yaml │ ├── cyber_diffusion_policy_n=8.yaml │ ├── cyber_diffusion_policy_no_delay.yaml │ ├── cyber_diffusion_policy_small_model.yaml │ ├── cyber_diffusion_policy_smaller_model.yaml │ ├── diffusion_policy_tf_1.yaml │ ├── diffusion_policy_tf_2.yaml │ ├── diffusion_policy_tf_3.yaml │ ├── diffusion_policy_tf_4.yaml │ ├── mlp_policy_tf_1.yaml │ └── tf_policy_tf_1.yaml ├── datasets │ ├── hopturn │ │ └── hopturn.txt │ └── mocap_motions │ │ ├── leftturn0.txt │ │ ├── pace0.txt │ │ ├── pace1.txt │ │ ├── rightturn0.txt │ │ ├── trot0.txt │ │ └── trot1.txt ├── diffusion_policy │ ├── common │ │ ├── checkpoint_util.py │ │ ├── cv2_util.py │ │ ├── env_util.py │ │ ├── json_logger.py │ │ ├── nested_dict_util.py │ │ ├── normalize_util.py │ │ ├── pose_trajectory_interpolator.py │ │ ├── precise_sleep.py │ │ ├── pymunk_override.py │ │ ├── pymunk_util.py │ │ ├── pytorch_util.py │ │ ├── replay_buffer.py │ │ ├── sampler.py │ │ └── timestamp_accumulator.py │ ├── dataset │ │ ├── base_dataset.py │ │ └── cyber_dataset.py │ ├── env_runner │ │ ├── base_runner.py │ │ ├── cassie_run_runner_mp.py │ │ ├── cassie_runner_mp.py │ │ ├── cyber_runner.py │ │ ├── isaac_runner.py │ │ └── legged_runner.py │ ├── model │ │ ├── common │ │ │ ├── dict_of_tensor_mixin.py │ │ │ ├── lr_scheduler.py │ │ │ ├── module_attr_mixin.py │ │ │ ├── normalizer.py │ │ │ ├── rotation_transformer.py │ │ │ ├── shape_util.py │ │ │ └── tensor_util.py │ │ └── diffusion │ │ │ ├── conditional_unet1d.py │ │ │ ├── conv1d_components.py │ │ │ ├── ema_model.py │ │ │ ├── mask_generator.py │ │ │ ├── positional_embedding.py │ │ │ └── transformer_for_diffusion.py │ ├── policy │ │ ├── base_policy.py │ │ ├── diffusion_transformer_lowdim_policy.py │ │ └── diffusion_unet_lowdim_policy.py │ └── workspace │ │ ├── base_workspace.py │ │ ├── train_diffusion_transformer_lowdim_workspace.py │ │ └── train_diffusion_unet_lowdim_workspace.py └── setup.py ├── docs └── Experiment-Go1.md ├── env.sh ├── install.sh ├── legged_gym ├── LICENSE ├── legged_gym │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── a1 │ │ │ ├── a1_amp_config.py │ │ │ └── a1_config.py │ │ ├── a1_robot │ │ │ ├── a1.py │ │ │ ├── a1_robot.py │ │ │ ├── a1_robot_velocity_estimator.py │ │ │ ├── action_filter.py │ │ │ ├── env_builder.py │ │ │ ├── env_utils.py │ │ │ ├── env_wrappers │ │ │ │ └── action_scale_wrapper.py │ │ │ ├── kinematics.py │ │ │ ├── laikago_constants.py │ │ │ ├── laikago_motor.py │ │ │ ├── laikago_pose_utils.py │ │ │ ├── locomotion_gym_config.py │ │ │ ├── locomotion_gym_env.py │ │ │ ├── minitaur.py │ │ │ ├── minitaur_constants.py │ │ │ ├── minitaur_motor.py │ │ │ ├── minitaur_pose_utils.py │ │ │ ├── moving_window_filter.py │ │ │ ├── robot_config.py │ │ │ ├── sensors │ │ │ │ ├── robot_sensors.py │ │ │ │ └── sensor.py │ │ │ └── space_utils.py │ │ ├── anymal_b │ │ │ └── anymal_b_config.py │ │ ├── anymal_c │ │ │ ├── anymal.py │ │ │ ├── flat │ │ │ │ └── anymal_c_flat_config.py │ │ │ └── mixed_terrains │ │ │ │ └── anymal_c_rough_config.py │ │ ├── base │ │ │ ├── base_config.py │ │ │ ├── base_task.py │ │ │ ├── legged_robot.py │ │ │ └── legged_robot_config.py │ │ ├── cassie │ │ │ ├── cassie.py │ │ │ └── cassie_config.py │ │ ├── cyberdog2 │ │ │ ├── c2_common_config.py │ │ │ ├── c2_env.py │ │ │ ├── c2_standdance_config.py │ │ │ ├── c2_standdance_env.py │ │ │ ├── c2_walk_config.py │ │ │ └── c2_walk_env.py │ │ ├── diffusion │ │ │ ├── bc_env_wrapper.py │ │ │ ├── bc_lowdim_policy_nsteps.py │ │ │ ├── bc_policy.py │ │ │ ├── diffusion_env_wrapper.py │ │ │ ├── diffusion_env_wrapper_new.py │ │ │ └── diffusion_policy.py │ │ └── real │ │ │ └── real_cyberdog2.py │ ├── scripts │ │ ├── evaluate_all.py │ │ ├── evaluate_metrics_forward.py │ │ ├── evaluate_metrics_left.py │ │ ├── evaluate_metrics_right.py │ │ ├── make_video.py │ │ ├── play copy.py │ │ ├── play.py │ │ ├── play_debug.py │ │ ├── play_diff.py │ │ ├── play_diff_2.py │ │ ├── play_diff_bc.py │ │ ├── play_diff_bc_real.py │ │ ├── play_diff_real.py │ │ ├── play_diff_real_2.py │ │ ├── play_diff_real_new.py │ │ ├── play_real.py │ │ ├── record_policy.py │ │ ├── replay_amp_data.py │ │ ├── test.py │ │ ├── train.py │ │ └── trt_model.py │ ├── tests │ │ └── test_env.py │ └── utils │ │ ├── __init__.py │ │ ├── diffuseloco.py │ │ ├── helpers.py │ │ ├── logger.py │ │ ├── math.py │ │ ├── task_registry.py │ │ └── terrain.py ├── licenses │ ├── assets │ │ ├── ANYmal_b_license.txt │ │ ├── ANYmal_c_license.txt │ │ ├── a1_license.txt │ │ └── cassie_license.txt │ └── dependencies │ │ └── matplotlib_license.txt ├── resources │ └── robots │ │ ├── a1 │ │ ├── a1_license.txt │ │ ├── meshes │ │ │ ├── calf.dae │ │ │ ├── hip.dae │ │ │ ├── thigh.dae │ │ │ ├── thigh_mirror.dae │ │ │ └── trunk.dae │ │ └── urdf │ │ │ └── a1.urdf │ │ └── cyberdog2 │ │ ├── meshes │ │ ├── abad.dae │ │ ├── body.dae │ │ ├── hip.dae │ │ ├── hip_mirror.dae │ │ └── knee.dae │ │ └── urdf │ │ ├── cyberdog2_v2.urdf │ │ └── door.urdf ├── rsl_rl │ ├── .flake8 │ ├── .gitignore │ ├── .pre-commit-config.yaml │ ├── CONTRIBUTORS.md │ ├── LICENSE │ ├── README.md │ ├── config │ │ └── dummy_config.yaml │ ├── licenses │ │ └── dependencies │ │ │ ├── black-license.txt │ │ │ ├── codespell-license.txt │ │ │ ├── flake8-license.txt │ │ │ ├── isort-license.txt │ │ │ ├── numpy_license.txt │ │ │ ├── onnx-license.txt │ │ │ ├── pre-commit-hooks-license.txt │ │ │ ├── pre-commit-license.txt │ │ │ ├── pyright-license.txt │ │ │ ├── pyupgrade-license.txt │ │ │ └── torch_license.txt │ ├── pyproject.toml │ ├── rsl_rl │ │ ├── __init__.py │ │ ├── algorithms │ │ │ ├── __init__.py │ │ │ └── ppo.py │ │ ├── env │ │ │ ├── __init__.py │ │ │ └── vec_env.py │ │ ├── modules │ │ │ ├── __init__.py │ │ │ ├── actor_critic.py │ │ │ ├── actor_critic_recurrent.py │ │ │ └── normalizer.py │ │ ├── runners │ │ │ ├── __init__.py │ │ │ └── on_policy_runner.py │ │ ├── storage │ │ │ ├── __init__.py │ │ │ └── rollout_storage.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── neptune_utils.py │ │ │ ├── utils.py │ │ │ └── wandb_utils.py │ └── setup.py └── setup.py ├── requirements.txt ├── rsl_rl ├── rsl_rl │ ├── __init__.py │ ├── algorithms │ │ ├── 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