├── .flake8 ├── .gitattributes ├── .gitignore ├── .pre-commit-config.yaml ├── LICENCE ├── README.md ├── pyproject.toml ├── scripts ├── csv_to_npz.py ├── replay_npz.py ├── rsl_rl │ ├── cli_args.py │ ├── play.py │ └── train.py └── upload_npz.py └── source └── whole_body_tracking ├── config └── extension.toml ├── docs └── CHANGELOG.rst ├── pyproject.toml ├── setup.py └── whole_body_tracking ├── __init__.py ├── assets └── __init__.py ├── robots ├── actuator.py ├── g1.py └── smpl.py ├── tasks ├── __init__.py └── tracking │ ├── __init__.py │ ├── config │ ├── __init__.py │ ├── g1 │ │ ├── __init__.py │ │ ├── agents │ │ │ ├── __init__.py │ │ │ └── rsl_rl_ppo_cfg.py │ │ └── flat_env_cfg.py │ └── humanoid │ │ ├── __init__.py │ │ ├── agents │ │ ├── __init__.py │ │ └── rsl_rl_ppo_cfg.py │ │ └── flat_env_cfg.py │ ├── mdp │ ├── __init__.py │ ├── commands.py │ ├── events.py │ ├── observations.py │ ├── rewards.py │ └── terminations.py │ └── tracking_env_cfg.py └── utils ├── __init__.py ├── exporter.py 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