├── README.md ├── assets └── framework.png ├── legged_gym ├── deploy │ ├── deploy_real │ │ ├── common │ │ │ ├── command_helper.py │ │ │ ├── remote_controller.py │ │ │ └── rotation_helper.py │ │ ├── config.py │ │ ├── configs │ │ │ └── go2.yaml │ │ └── deploy_real_go2.py │ └── pre_train │ │ └── go2 │ │ └── policy.pt ├── legged_gym │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── base │ │ │ ├── base_config.py │ │ │ ├── base_task.py │ │ │ ├── legged_robot.py │ │ │ └── legged_robot_config.py │ │ └── go2 │ │ │ └── go2_config.py │ ├── scripts │ │ ├── play.py │ │ └── train.py │ └── utils │ │ ├── __init__.py │ │ ├── helpers.py │ │ ├── logger.py │ │ ├── math.py │ │ ├── task_registry.py │ │ └── terrain.py ├── resources │ └── robots │ │ └── go2 │ │ ├── dae │ │ ├── base.dae │ │ ├── calf.dae │ │ ├── calf_mirror.dae │ │ ├── foot.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ └── thigh_mirror.dae │ │ └── urdf │ │ └── go2.urdf └── setup.py └── rsl_rl ├── rsl_rl ├── __init__.py ├── algorithms │ ├── __init__.py │ ├── him_ppo.py │ └── ppo.py ├── env │ ├── __init__.py │ └── vec_env.py ├── modules │ ├── __init__.py │ ├── actor_critic.py │ ├── actor_critic_recurrent.py │ ├── him_actor_critic.py │ └── him_estimator.py ├── runners │ ├── __init__.py │ ├── him_on_policy_runner.py │ └── on_policy_runner.py ├── storage │ ├── __init__.py │ ├── him_rollout_storage.py │ └── rollout_storage.py └── utils │ ├── __init__.py │ └── utils.py └── setup.py /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Project-Robo/HIMLOCO_GO2/HEAD/README.md -------------------------------------------------------------------------------- /assets/framework.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Project-Robo/HIMLOCO_GO2/HEAD/assets/framework.png -------------------------------------------------------------------------------- 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