├── LICENSE ├── README.md ├── README_cn.md ├── README_en.md ├── doc ├── controller.png ├── gazebo.png ├── ipconfig.png ├── launch.png ├── rqt_gui.png └── simulator.gif ├── robot_common ├── CMakeLists.txt ├── include │ └── robot_common │ │ └── hardware_interface │ │ ├── ContactSensorInterface.h │ │ └── HybridJointInterface.h └── package.xml ├── robot_controllers ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ └── pointfoot │ │ ├── PF_P441A │ │ ├── params.yaml │ │ └── policy │ │ │ ├── encoder.onnx │ │ │ ├── isaacgym │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ ├── isaaclab │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ └── policy.onnx │ │ ├── PF_P441B │ │ ├── params.yaml │ │ └── policy │ │ │ ├── encoder.onnx │ │ │ ├── isaacgym │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ ├── isaaclab │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ └── policy.onnx │ │ ├── PF_P441C │ │ ├── params.yaml │ │ └── policy │ │ │ ├── encoder.onnx │ │ │ ├── isaacgym │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ ├── isaaclab │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ └── policy.onnx │ │ ├── PF_P441C2 │ │ ├── params.yaml │ │ └── policy │ │ │ ├── encoder.onnx │ │ │ ├── isaacgym │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ ├── isaaclab │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ └── policy.onnx │ │ ├── PF_TRON1A │ │ ├── params.yaml │ │ └── policy │ │ │ ├── encoder.onnx │ │ │ ├── isaacgym │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ ├── isaaclab │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ └── policy.onnx │ │ ├── PF_TRON1B │ │ ├── params.yaml │ │ └── policy │ │ │ ├── isaacgym │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ └── isaaclab │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ ├── SF_TRON1A │ │ ├── params.yaml │ │ └── policy │ │ │ ├── encoder.onnx │ │ │ ├── isaacgym │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ ├── isaaclab │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ └── policy.onnx │ │ ├── SF_TRON1B │ │ ├── params.yaml │ │ └── policy │ │ │ ├── isaacgym │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ └── isaaclab │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ ├── WF_TRON1A │ │ ├── params.yaml │ │ └── policy │ │ │ ├── encoder.onnx │ │ │ ├── isaacgym │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ ├── isaaclab │ │ │ ├── encoder.onnx │ │ │ └── policy.onnx │ │ │ └── policy.onnx │ │ └── WF_TRON1B │ │ ├── params.yaml │ │ └── policy │ │ ├── isaacgym │ │ ├── encoder.onnx │ │ └── policy.onnx │ │ └── isaaclab │ │ ├── encoder.onnx │ │ └── policy.onnx ├── include │ └── robot_controllers │ │ ├── ControllerBase.h │ │ ├── PointfootController.h │ │ ├── SolefootController.h │ │ └── WheelfootController.h ├── package.xml ├── robot_controllers_plugins.xml └── src │ ├── ControllerBase.cpp │ ├── PointfootController.cpp │ ├── SolefootController.cpp │ └── WheelfootController.cpp └── robot_hw ├── CMakeLists.txt ├── config ├── joystick.yaml ├── joystick_sim.yaml └── robot_hw.yaml ├── include └── robot_hw │ 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