├── .gitignore ├── Github-logo.png ├── LICENSE ├── README.md ├── data ├── RL_data.csv ├── data.csv ├── data_OTD_adapt.csv └── data_OTD_withoutadapt.csv ├── include ├── Controller.h ├── Data.h ├── FSM.h ├── Leg.h ├── LocomotionController.h ├── LocomotionTopLevelControl.h ├── Math.h ├── Perception.h ├── Robot.h ├── TopLevelControl.h ├── Wrapper.h ├── mujoco_pce_params.h └── params.h ├── src ├── Controller.cpp ├── Data.cpp ├── FSM.cpp ├── Leg.cpp ├── LocomotionController.cpp ├── LocomotionTopLevelControl.cpp ├── Math.cpp ├── Perception.cpp ├── Robot.cpp ├── TopLevelControl.cpp ├── Wrapper.cpp ├── cmake │ └── CMakeLists.txt ├── create_plots │ ├── amination-multi-surfaces_plot.py │ ├── multi-surfaces_plot.py │ ├── pce_bag.csv │ ├── real_time_plot.gif │ ├── state_plot.py │ └── submitted_paper_plots.py ├── dynawalkMujoco.cpp └── multi_dynawalkMujoco.cpp └── xml └── unitree_go2 ├── LICENSE ├── README.md ├── assets ├── base_0.obj ├── base_1.obj ├── base_2.obj ├── base_3.obj ├── base_4.obj ├── 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