├── .gitignore ├── LICENSE ├── README.md ├── legged_gym ├── __init__.py ├── envs │ ├── __init__.py │ ├── base │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── legged_robot.py │ │ └── legged_robot_config.py │ └── go2w │ │ ├── go2w_config.py │ │ └── go2w_robot.py ├── scripts │ ├── play.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 └── GO2W │ ├── Nov10_00-01-48_ │ ├── events.out.tfevents.1762704108.Track.39424.0 │ └── model_10000.pt │ └── exported │ └── policies │ └── policy_best.pt ├── mujoco ├── cmd_keyboard.py ├── config.yaml └── pdandrl.py ├── resources └── robots │ └── go2w │ ├── dae │ ├── base.dae │ ├── calf.dae │ ├── calf_mirror.dae │ ├── foot.dae │ ├── hip.dae │ ├── left_wheel.dae │ ├── right_wheel.dae │ ├── thigh.dae │ └── thigh_mirror.dae │ ├── mjcf │ ├── assets │ │ ├── Office_Chair_Scaled.STL │ │ ├── Office_Chair_True_Scale.STL │ │ ├── base_0.obj │ │ ├── base_1.obj │ │ ├── base_2.obj │ │ ├── base_3.obj │ │ ├── base_4.obj │ │ ├── calf.stl │ │ ├── calf_0.obj │ │ ├── calf_1.obj │ │ ├── calf_mirror.stl │ │ ├── calf_mirror_0.obj │ │ ├── calf_mirror_1.obj │ │ ├── d435i_0.obj │ │ ├── d435i_1.obj │ │ ├── d435i_2.obj │ │ ├── d435i_3.obj │ │ ├── d435i_4.obj │ │ ├── d435i_5.obj │ │ ├── d435i_6.obj │ │ ├── d435i_7.obj │ │ ├── d435i_8.obj │ │ ├── d435i_fix1.STL │ │ ├── d435i_fix2.STL │ │ ├── femto_bolt.STL │ │ ├── femto_bolt_fixed.STL │ │ ├── foot.obj │ │ ├── hip_0.obj │ │ ├── hip_1.obj │ │ ├── terrain.STL │ │ ├── thigh_0.obj │ │ ├── thigh_1.obj │ │ ├── thigh_mirror_0.obj │ │ ├── thigh_mirror_1.obj │ │ ├── untitled.stl │ │ ├── wheel.stl │ │ └── wheel1.stl │ ├── go2w.xml │ ├── height_field.png │ ├── scene.xml │ └── unitree_hfield.png │ └── urdf │ └── go2w.urdf ├── rsl_rl ├── 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