├── .flake8 ├── .gitattributes ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── CONTRIBUTING.md ├── Dockerfile ├── LICENCE ├── README.md ├── docs ├── robots_in_action.gif ├── stable_punch.gif └── stable_wave.gif ├── install_deps.sh ├── neural_wbc ├── core │ ├── README.md │ ├── neural_wbc │ │ └── core │ │ │ ├── __init__.py │ │ │ ├── body_state.py │ │ │ ├── environment_wrapper.py │ │ │ ├── evaluator.py │ │ │ ├── mask.py │ │ │ ├── math_utils.py │ │ │ ├── modes.py │ │ │ ├── observations │ │ │ ├── __init__.py │ │ │ ├── student_history.py │ │ │ ├── student_observations.py │ │ │ └── teacher_observations.py │ │ │ ├── reference_motion.py │ │ │ ├── robot_wrapper.py │ │ │ ├── termination.py │ │ │ └── util.py │ ├── setup.py │ └── tests │ │ ├── __init__.py │ │ ├── test_body_state.py │ │ ├── test_evaluator.py │ │ ├── test_mask.py │ │ ├── test_reference_motion_manager.py │ │ ├── test_student_history.py │ │ ├── test_student_observations.py │ │ ├── test_teacher_observations.py │ │ └── test_termination.py ├── data │ ├── README.md │ ├── data │ │ ├── motion_lib │ │ │ └── h1.xml │ │ └── mujoco │ │ │ └── models │ │ │ ├── assets │ │ │ ├── left_ankle_link.stl │ │ │ ├── left_elbow_link.stl │ │ │ ├── left_hip_pitch_link.stl │ │ │ ├── left_hip_roll_link.stl │ │ │ ├── left_hip_yaw_link.stl │ │ │ ├── left_knee_link.stl │ │ │ ├── left_shoulder_pitch_link.stl │ │ │ ├── left_shoulder_roll_link.stl │ │ │ ├── left_shoulder_yaw_link.stl │ │ │ ├── logo_link.stl │ │ │ ├── pelvis.stl │ │ │ ├── right_ankle_link.stl │ │ │ ├── right_elbow_link.stl │ │ │ ├── right_hip_pitch_link.stl │ │ │ ├── right_hip_roll_link.stl │ │ │ ├── right_hip_yaw_link.stl │ │ │ ├── right_knee_link.stl │ │ │ ├── right_shoulder_pitch_link.stl │ │ │ ├── right_shoulder_roll_link.stl │ │ │ ├── right_shoulder_yaw_link.stl │ │ │ └── torso_link.stl │ │ │ ├── h1.xml │ │ │ └── scene.xml │ ├── neural_wbc │ │ └── data │ │ │ └── __init__.py │ ├── setup.py │ └── tests │ │ ├── __init__.py │ │ └── test_get_file_path.py ├── hw_wrappers │ ├── README.md │ ├── docs │ │ ├── push_recovery.gif │ │ └── unitree_h1_setup.png │ ├── hw_wrappers │ │ ├── __init__.py │ │ ├── h1_sdk_wrapper.py │ │ └── unitree_h1.py │ ├── setup.py │ └── tests │ │ ├── __init__.py │ │ └── test_unitree_h1.py ├── inference_env │ ├── __init__.py │ ├── inference_env │ │ ├── README.md │ │ ├── __init__.py │ │ ├── deployment_player.py │ │ ├── neural_wbc_env.py │ │ ├── neural_wbc_env_cfg.py │ │ ├── neural_wbc_env_cfg_h1.py │ │ ├── neural_wbc_env_cfg_real_h1.py │ │ └── utils.py │ ├── scripts │ │ ├── eval.py │ │ ├── mujoco_viewer_player.py │ │ └── s2r_player.py │ ├── setup.py │ └── tests │ │ ├── __init__.py │ │ ├── test_evaluation_pipeline.py │ │ └── test_neural_wbc_env.py ├── isaac_lab_wrapper │ ├── neural_wbc │ │ └── isaac_lab_wrapper │ │ │ ├── __init__.py │ │ │ ├── body_state.py │ │ │ ├── control.py │ │ │ ├── events │ │ │ ├── __init__.py │ │ │ ├── event_cfg.py │ │ │ └── events.py │ │ │ ├── neural_wbc_env.py │ │ │ ├── neural_wbc_env_cfg.py │ │ │ ├── neural_wbc_env_cfg_h1.py │ │ │ ├── observations.py │ │ │ ├── rewards │ │ │ ├── __init__.py │ │ │ ├── reward_cfg.py │ │ │ └── rewards.py │ │ │ ├── terrain.py │ │ │ ├── utils.py │ │ │ └── visualization.py │ ├── setup.py │ └── tests │ │ ├── __init__.py │ │ ├── test_main.py │ │ ├── test_neural_wbc_env.py │ │ ├── test_neural_wbc_env_cfg.py │ │ └── test_observations.py ├── mujoco_wrapper │ ├── README.md │ ├── mujoco_wrapper │ │ ├── __init__.py │ │ ├── control.py │ │ ├── mujoco_robot.py │ │ ├── mujoco_simulator.py │ │ ├── mujoco_utils.py │ │ ├── utils.py │ │ └── visualization.py │ ├── setup.py │ └── tests │ │ ├── __init__.py │ │ ├── test_mujoco_simulator.py │ │ └── test_mujoco_utils.py └── student_policy │ ├── README.md │ ├── neural_wbc │ ├── student_policy │ │ ├── __init__.py │ │ ├── policy.py │ │ ├── storage.py │ │ ├── student_policy_trainer.py │ │ ├── student_policy_trainer_cfg.py │ │ └── teacher_policy.py │ └── tests │ │ ├── __init__.py │ │ ├── test_storage.py │ │ └── test_student_policy_trainer.py │ └── setup.py ├── punch.yaml ├── pyproject.toml ├── requirements.txt ├── requirements_deploy.txt ├── retarget_h1.sh ├── run_e2e_tests.sh ├── run_unit_tests.sh ├── scripts └── rsl_rl │ ├── config_overwrites │ └── sample.overwrite.yaml │ ├── eval.py │ ├── play.py │ ├── players.py │ ├── teacher_policy_cfg.py │ ├── tests │ ├── __init__.py │ ├── student_evaluation_pipeline_test.py │ ├── student_training_pipeline_test.py │ ├── teacher_evaluation_pipeline_test.py │ ├── teacher_training_pipeline_test.py │ ├── test_teacher_policy_cfg.py │ └── test_utils.py │ ├── train_student_policy.py │ ├── train_teacher_policy.py │ ├── utils.py │ └── vecenv_wrapper.py └── third_party ├── grad_fit_h1.patch ├── mujoco_viewer ├── LICENCE ├── __init__.py ├── mujoco_viewer │ ├── __init__.py │ ├── callbacks.py │ └── mujoco_viewer.py └── setup.py ├── phc_torch_utils.patch ├── requirements.patch └── rsl_rl ├── .gitignore ├── LICENSE ├── README.md ├── licenses └── dependencies │ ├── 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