├── .gitignore ├── README.md ├── aze ├── playground ├── __init__.py ├── common │ ├── __init__.py │ ├── export_onnx.py │ ├── onnx_infer.py │ ├── plot_saved_obs.py │ ├── poly_reference_motion.py │ ├── poly_reference_motion_numpy.py │ ├── randomize.py │ ├── rewards.py │ ├── rewards_numpy.py │ ├── runner.py │ └── utils.py └── open_duck_mini_v2 │ ├── __init__.py │ ├── base.py │ ├── constants.py │ ├── custom_rewards.py │ ├── custom_rewards_numpy.py │ ├── data │ └── polynomial_coefficients.pkl │ ├── joystick.py │ ├── mujoco_infer.py │ ├── mujoco_infer_base.py │ ├── ref_motion_viewer.py │ ├── runner.py │ ├── standing.py │ └── xmls │ ├── assets │ ├── antenna.part │ ├── antenna.stl │ ├── body_back.part │ ├── body_back.stl │ ├── body_front.part │ ├── body_front.stl │ ├── body_middle_bottom.part │ ├── body_middle_bottom.stl │ ├── body_middle_top.part │ ├── body_middle_top.stl │ ├── foot_bottom_pla.part │ ├── foot_bottom_pla.stl │ ├── foot_bottom_tpu.part │ ├── foot_bottom_tpu.stl │ ├── foot_side.part │ ├── foot_side.stl │ ├── foot_top.part │ ├── foot_top.stl │ ├── head.part │ ├── head.stl │ ├── head_bot_sheet.part │ ├── head_bot_sheet.stl │ ├── head_pitch_to_yaw.part │ ├── head_pitch_to_yaw.stl │ ├── head_yaw_to_roll.part │ ├── head_yaw_to_roll.stl │ ├── hfield.png │ ├── left_antenna_holder.part │ ├── left_antenna_holder.stl │ ├── left_cache.part │ ├── left_cache.stl │ ├── left_knee_to_ankle_left_sheet.part │ ├── left_knee_to_ankle_left_sheet.stl │ ├── left_knee_to_ankle_right_sheet.part │ ├── left_knee_to_ankle_right_sheet.stl │ ├── left_roll_to_pitch.part │ ├── left_roll_to_pitch.stl │ ├── leg_spacer.part │ ├── leg_spacer.stl │ ├── neck_left_sheet.part │ ├── neck_left_sheet.stl │ ├── neck_right_sheet.part │ ├── neck_right_sheet.stl │ ├── right_antenna_holder.part │ ├── right_antenna_holder.stl │ ├── right_cache.part │ ├── right_cache.stl │ ├── right_roll_to_pitch.part │ ├── right_roll_to_pitch.stl │ ├── roll_motor_bottom.part │ ├── roll_motor_bottom.stl │ ├── roll_motor_top.part │ ├── roll_motor_top.stl │ ├── trunk_bottom.part │ ├── trunk_bottom.stl │ ├── trunk_top.part │ └── trunk_top.stl │ ├── config.json │ ├── joints_properties.xml │ ├── open_duck_mini_v2.xml │ ├── open_duck_mini_v2_backlash.xml │ ├── scene_flat_terrain.xml │ ├── scene_flat_terrain_backlash.xml │ ├── scene_rough_terrain_backlash.xml │ └── sensors.xml └── pyproject.toml /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/apirrone/Open_Duck_Playground/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/apirrone/Open_Duck_Playground/HEAD/README.md -------------------------------------------------------------------------------- /aze: -------------------------------------------------------------------------------- 1 | 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