├── MorphoSymm ├── .gitignore ├── LICENSE ├── README.md ├── morpho_symm │ ├── __init__.py │ ├── cfg │ │ ├── config.yaml │ │ ├── config_visualization.yaml │ │ ├── dataset │ │ │ ├── com_momentum.yaml │ │ │ └── contact.yaml │ │ ├── model │ │ │ ├── base_model.yaml │ │ │ ├── contact_cnn.yaml │ │ │ ├── contact_ecnn.yaml │ │ │ ├── emlp.yaml │ │ │ └── mlp.yaml │ │ └── robot │ │ │ ├── a1.yaml │ │ │ ├── anymal_b-c2.yaml │ │ │ ├── anymal_b.yaml │ │ │ ├── anymal_c-c2.yaml │ │ │ ├── anymal_c.yaml │ │ │ ├── atlas.yaml │ │ │ ├── b1.yaml │ │ │ ├── base_robot.yaml │ │ │ ├── baxter.yaml │ │ │ ├── bolt.yaml │ │ │ ├── cassie.yaml │ │ │ ├── go1.yaml │ │ │ ├── hyq-c2.yaml │ │ │ ├── hyq.yaml │ │ │ ├── iiwa.yaml │ │ │ ├── mini_cheetah-c2.yaml │ │ │ ├── mini_cheetah-k4.yaml │ │ │ ├── mini_cheetah.yaml │ │ │ ├── solo-c2.yaml │ │ │ ├── solo-k4.yaml │ │ │ ├── solo.yaml │ │ │ ├── trifinger.yaml │ │ │ ├── upkie.yaml │ │ │ ├── ur10.yaml │ │ │ ├── ur3.yaml │ │ │ └── ur5.yaml │ ├── groups │ │ ├── SemiDirectProduct.py │ │ ├── SparseRepresentation.py │ │ ├── SymmetryGroups.py │ │ ├── __init__.py │ │ └── isotypic_decomposition.py │ ├── nn │ │ ├── ContactECNN.py │ │ ├── EMLP.py │ │ ├── EquivariantModules.py │ │ ├── LightningModel.py │ │ ├── MLP.py │ │ ├── __init__.py │ │ ├── test_EMLP.py │ │ └── test_escnn.py │ ├── robot_symmetry_visualization.py │ ├── robots │ │ ├── PinBulletWrapper.py │ │ ├── PinSimWrapper.py │ │ └── __init__.py │ └── utils │ │ ├── __init__.py │ │ ├── algebra_utils.py │ │ ├── mysc.py │ │ ├── pybullet_visual_utils.py │ │ ├── rep_theory_utils.py │ │ └── robot_utils.py └── pyproject.toml ├── README.md ├── legged_gym ├── .gitattributes ├── .gitignore ├── LICENSE ├── legged_gym.code-workspace ├── legged_gym │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── base │ │ │ ├── base_config.py │ │ │ ├── base_task.py │ │ │ ├── legged_robot.py │ │ │ └── legged_robot_config.py │ │ └── cyberdog2 │ │ │ ├── c2_common_config.py │ │ │ ├── c2_env.py │ │ │ ├── c2_pushdoor_config.py │ │ │ ├── c2_pushdoor_env.py │ │ │ ├── c2_standdance_config.py │ │ │ ├── c2_standdance_env.py │ │ │ ├── c2_walkslope_config.py │ │ │ └── c2_walkslope_env.py │ ├── scripts │ │ ├── evaluate_all.py │ │ ├── play.py │ │ ├── test.py │ │ └── train.py │ ├── tests │ │ └── test_env.py │ └── utils │ │ ├── __init__.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 ├── logs │ └── push_door_cyber_emlp │ │ └── 2024-09-17-23-10-31_ │ │ └── model_20000.pt ├── resources │ └── robots │ │ └── cyberdog2 │ │ ├── meshes │ │ ├── abad.dae │ │ ├── body.dae │ │ ├── hip.dae │ │ ├── hip_mirror.dae │ │ └── knee.dae │ │ └── urdf │ │ ├── cyberdog2.urdf │ │ └── door.urdf └── setup.py └── rsl_rl ├── .gitignore ├── LICENSE ├── README.md ├── licenses └── dependencies │ ├── numpy_license.txt │ └── 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