├── .gitignore ├── .vscode └── settings.json ├── LICENSE ├── README.md ├── data ├── motion_sequences │ ├── mi-pace │ │ ├── amp-mi-pace-bk.txt │ │ └── amp-mi-pace.txt │ ├── mi-sidesteps │ │ ├── amp-mi-sidesteps-bk.txt │ │ └── amp-mi-sidesteps.txt │ ├── mi-spin │ │ ├── amp-mi-spin-bk.txt │ │ └── amp-mi-spin.txt │ ├── mi-trot │ │ ├── amp-mi-trot-bk.txt │ │ └── amp-mi-trot.txt │ └── mi-turn │ │ ├── amp-mi-turn-bk.txt │ │ └── amp-mi-turn.txt └── urdf_templates │ ├── human.urdf │ ├── laikago │ ├── chassis.mtl │ ├── chassis.obj │ ├── chassis.stl │ ├── chassis_mod.mtl │ ├── chassis_mod.obj │ ├── chassis_vhacd.obj │ ├── chassis_vhacd_mod.obj │ ├── chassis_vhacd_mod_zup.mtl │ ├── chassis_vhacd_mod_zup.obj │ ├── chassis_zup.mtl │ ├── chassis_zup.obj │ ├── chassis_zup_lores.obj │ ├── data1.txt │ ├── hip_motor.mtl │ ├── hip_motor.obj │ ├── hip_motor.stl │ ├── hip_motor_lores.obj │ ├── hip_motor_mirror.mtl │ ├── hip_motor_mirror.obj │ ├── hip_motor_mirror.stl │ ├── hip_motor_mirror_lores.obj │ ├── laikago.urdf │ ├── laikago_tex.jpg │ ├── laikago_toes.urdf │ ├── laikago_toes_limits.urdf │ ├── laikago_toes_zup.urdf │ ├── laikago_toes_zup_lores.urdf │ ├── license.txt │ ├── lower_leg3.mtl │ ├── lower_leg3.obj │ ├── lower_leg3_lores.obj │ ├── lower_leg_3.stl │ ├── lower_leg_3_collision.stl │ ├── upper_leg.stl │ ├── upper_leg_left.mtl │ ├── upper_leg_left.obj │ ├── upper_leg_left2.mtl │ ├── upper_leg_left2.obj │ ├── upper_leg_left2_lores.obj │ ├── upper_leg_left_lores.obj │ ├── upper_leg_left_vhacd.obj │ ├── upper_leg_mirror.mtl │ ├── upper_leg_mirror.obj │ ├── upper_leg_mirror.stl │ ├── upper_leg_mirror2.mtl │ ├── upper_leg_mirror2.obj │ ├── upper_leg_mirror2_lores.obj │ ├── upper_leg_mirror_lores.obj │ ├── upper_leg_right.mtl │ ├── upper_leg_right.obj │ └── upper_leg_right_vhacd.obj │ └── quad.urdf ├── diffphys ├── __init__.py ├── colors.py ├── dataloader.py ├── dp_interface.py ├── dp_model.py ├── dp_utils.py ├── geom_utils.py ├── import_urdf.py ├── integrator_euler.py ├── io.py ├── 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