├── DwaQ_stairs.gif ├── legged_gym ├── .gitattributes ├── .github │ └── ISSUE_TEMPLATE │ │ └── bug_report.md ├── .gitignore ├── LICENSE ├── README.md ├── env_cfg.pkl ├── go1_gym_deploy │ ├── __init__.py │ ├── autostart │ │ ├── start_controller.sh │ │ └── start_unitree_sdk.sh │ ├── docker │ │ ├── Dockerfile │ │ ├── Makefile │ │ ├── unzip_image.sh │ │ └── zip_image.sh │ ├── envs │ │ ├── Saved_Models.zip │ │ ├── Saved_Models │ │ │ ├── actor_dwaq.pt │ │ │ ├── encoder_dwaq.pt │ │ │ ├── encoder_mu_dwaq.pt │ │ │ ├── encoder_var_dwaq.pt │ │ │ └── parameters.pkl │ │ ├── __init__.py │ │ ├── history_wrapper.py │ │ └── lcm_agent.py │ ├── installer │ │ └── install_deployment_code.sh │ ├── lcm_types │ │ ├── __init__.py │ │ ├── camera_message_lcmt.py │ │ ├── camera_message_rect_wide.py │ │ ├── leg_control_data_lcmt.lcm │ │ ├── leg_control_data_lcmt.py │ │ ├── pd_tau_targets_lcmt.lcm │ │ ├── pd_tau_targets_lcmt.py │ │ ├── rc_command_lcmt.lcm │ │ ├── rc_command_lcmt.py │ │ ├── state_estimator_lcmt.lcm │ │ └── state_estimator_lcmt.py │ ├── scripts │ │ ├── __init__.py │ │ ├── deploy_policy.py │ │ └── send_to_unitree.sh │ ├── setup.py │ ├── tests │ │ ├── __init__.py │ │ └── check_camera_msgs.py │ ├── unitree_legged_sdk_bin │ │ ├── __init__.py │ │ ├── lcm_position │ │ └── lcm_position.cpp │ └── utils │ │ ├── __init__.py │ │ ├── cheetah_state_estimator.py │ │ ├── command_profile.py │ │ ├── deployment_runner.py │ │ ├── logger.py │ │ └── network_config_unitree.py ├── legged_gym │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── a1 │ │ │ └── a1_config.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 │ │ ├── go1 │ │ │ └── go1_config.py │ │ └── wrappers │ │ │ └── history_wrapper.py │ ├── scripts │ │ ├── play.py │ │ ├── stand_still.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 ├── resources │ ├── actuator_nets │ │ └── anydrive_v3_lstm.pt │ └── robots │ │ ├── a1 │ │ ├── a1_license.txt │ │ ├── meshes │ │ │ ├── calf.dae │ │ │ ├── hip.dae │ │ │ ├── thigh.dae │ │ │ ├── thigh_mirror.dae │ │ │ ├── trunk.dae │ │ │ └── trunk_A1.png │ │ └── urdf │ │ │ └── a1.urdf │ │ ├── anymal_b │ │ ├── ANYmal_b_license.txt │ │ ├── meshes │ │ │ ├── anymal_base.dae │ │ │ ├── anymal_foot.dae │ │ │ ├── anymal_hip_l.dae │ │ │ ├── anymal_hip_r.dae │ │ │ ├── anymal_shank_l.dae │ │ │ ├── anymal_shank_r.dae │ │ │ ├── anymal_thigh_l.dae │ │ │ ├── anymal_thigh_r.dae │ │ │ ├── base_uv_texture.jpg │ │ │ └── carbon_uv_texture.jpg │ │ └── urdf │ │ │ └── anymal_b.urdf │ │ ├── anymal_c │ │ ├── ANYmal_c_license.txt │ │ ├── meshes │ │ │ ├── base.dae │ │ │ ├── base.jpg │ │ │ ├── battery.dae │ │ │ ├── battery.jpg │ │ │ ├── bottom_shell.dae │ │ │ ├── bottom_shell.jpg │ │ │ ├── depth_camera.dae │ │ │ ├── depth_camera.jpg │ │ │ ├── drive.dae │ │ │ ├── drive.jpg │ │ │ ├── face.dae │ │ │ ├── face.jpg │ │ │ ├── foot.dae │ │ │ ├── foot.jpg │ │ │ ├── handle.dae │ │ │ ├── handle.jpg │ │ │ ├── hatch.dae │ │ │ ├── hatch.jpg │ │ │ ├── hip.jpg │ │ │ ├── hip_l.dae │ │ │ ├── hip_r.dae │ │ │ ├── lidar.dae │ │ │ ├── lidar.jpg │ │ │ ├── lidar_cage.dae │ │ │ ├── lidar_cage.jpg │ │ │ ├── remote.dae │ │ │ ├── remote.jpg │ │ │ ├── shank.jpg │ │ │ ├── shank_l.dae │ │ │ ├── shank_r.dae │ │ │ ├── thigh.dae │ │ │ ├── thigh.jpg │ │ │ ├── top_shell.dae │ │ │ ├── top_shell.jpg │ │ │ ├── wide_angle_camera.dae │ │ │ └── wide_angle_camera.jpg │ │ └── urdf │ │ │ └── anymal_c.urdf │ │ ├── cassie │ │ ├── cassie_license.txt │ │ ├── meshes │ │ │ ├── abduction.stl │ │ │ ├── abduction_mirror.stl │ │ │ ├── achilles-rod.stl │ │ │ ├── hip.stl │ │ │ ├── hip_mirror.stl │ │ │ ├── knee-output.stl │ │ │ ├── knee-output_mirror.stl │ │ │ ├── pelvis.stl │ │ │ ├── plantar-rod.stl │ │ │ ├── shin-bone.stl │ │ │ ├── shin-bone_mirror.stl │ │ │ ├── tarsus.stl │ │ │ ├── tarsus_mirror.stl │ │ │ ├── thigh.stl │ │ │ ├── thigh_mirror.stl │ │ │ ├── toe-output-crank.stl │ │ │ ├── toe.stl │ │ │ ├── toe_mirror.stl │ │ │ ├── torso.stl │ │ │ ├── yaw.stl │ │ │ └── yaw_mirror.stl │ │ └── urdf │ │ │ └── cassie.urdf │ │ └── go1 │ │ ├── meshes │ │ ├── calf.stl │ │ ├── hip.stl │ │ ├── thigh.stl │ │ ├── thigh_mirror.stl │ │ └── trunk.stl │ │ ├── urdf │ │ └── go1.urdf │ │ └── xml │ │ └── go1.xml ├── setup.py └── train_cfg.pkl ├── readme.md └── rsl_rl-1.0.2 ├── .gitignore ├── LICENSE ├── README.md ├── licenses └── dependencies │ ├── numpy_license.txt │ └── torch_license.txt ├── rsl_rl ├── 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