├── .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 │ │ ├── legged_robot_nav.py │ │ └── legged_robot_nav_config.py │ ├── bipedal_walker │ │ ├── bipedal_walker.py │ │ └── bipedal_walker_config.py │ ├── go2 │ │ ├── go2.py │ │ ├── go2_cat │ │ │ ├── go2_cat.py │ │ │ └── go2_cat_config.py │ │ ├── go2_config.py │ │ ├── go2_dreamwaq │ │ │ ├── go2_dreamwaq.py │ │ │ └── go2_dreamwaq_config.py │ │ ├── go2_ee │ │ │ ├── go2_ee.py │ │ │ └── go2_ee_config.py │ │ ├── go2_nav │ │ │ ├── go2_nav.py │ │ │ └── go2_nav_config.py │ │ ├── go2_sysid │ │ │ ├── go2_sysid.py │ │ │ └── go2_sysid_config.py │ │ ├── go2_ts │ │ │ ├── go2_ts.py │ │ │ └── go2_ts_config.py │ │ ├── go2_ts_depth │ │ │ ├── go2_ts_depth.py │ │ │ └── go2_ts_depth_config.py │ │ └── go2_wtw │ │ │ ├── go2_wtw.py │ │ │ └── go2_wtw_config.py │ ├── tron1_pf │ │ ├── tron1_pf.py │ │ ├── tron1_pf_config.py │ │ └── tron1_pf_ts │ │ │ ├── tron1_pf_ts.py │ │ │ └── tron1_pf_ts_config.py │ └── tron1_sf │ │ ├── tron1_sf.py │ │ └── tron1_sf_config.py ├── scripts │ ├── constraint │ │ ├── evaluate_violation_cat.py │ │ ├── evaluate_violation_ts.py │ │ └── violation_comparison.txt │ ├── play.py │ ├── play_ee.py │ ├── play_ts.py │ ├── play_waq.py │ ├── play_wtw.py │ ├── plot.png │ ├── sysid │ │ └── run_go2_sysid.py │ └── train.py ├── simulator │ ├── __init__.py │ └── simulator.py └── utils │ ├── __init__.py │ ├── constraint_manager.py │ ├── gs_utils.py │ ├── helpers.py │ ├── logger.py │ ├── math_utils.py │ ├── task_registry.py │ ├── terrain.py │ └── terrain_utils.py ├── pyproject.toml ├── resources ├── images │ ├── tron1_pf_demo.gif │ └── tron1_pf_rough_demo.gif ├── plane │ └── plane.urdf ├── robots │ ├── PF_TRON1A │ │ ├── meshes │ │ │ ├── abad_L_Link.STL │ │ │ ├── abad_R_Link.STL │ │ │ ├── base_Link.STL │ │ │ ├── foot_L_Link.STL │ │ │ ├── foot_R_Link.STL │ │ │ ├── hip_L_Link.STL │ │ │ ├── hip_R_Link.STL │ │ │ ├── knee_L_Link.STL │ │ │ └── knee_R_Link.STL │ │ └── urdf │ │ │ └── robot.urdf │ ├── SF_TRON1A │ │ ├── meshes │ │ │ ├── abad_L_Link.STL │ │ │ ├── abad_R_Link.STL │ │ │ ├── ankle_L_Link.STL │ │ │ ├── ankle_R_Link.STL │ │ │ ├── base_Link.STL │ │ │ ├── hip_L_Link.STL │ │ │ ├── hip_R_Link.STL │ │ │ ├── knee_L_Link.STL │ │ │ └── knee_R_Link.STL │ │ └── urdf │ │ │ └── robot.urdf │ ├── bipedal_walker │ │ └── urdf │ │ │ └── walker3d_hip3d.urdf │ └── go2 │ │ ├── dae │ │ ├── base.dae │ │ ├── calf.dae │ │ ├── calf_mirror.dae │ │ ├── foot.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ └── thigh_mirror.dae │ │ └── urdf │ │ └── go2.urdf └── sysid │ └── 20250617_motor_response_real_200Hz.csv └── rsl_rl ├── __init__.py ├── algorithms ├── __init__.py ├── ppo.py ├── ppo_dreamwaq.py ├── ppo_ee.py └── ppo_ts.py ├── env ├── __init__.py └── vec_env.py ├── modules ├── __init__.py ├── actor_critic.py ├── actor_critic_dreamwaq.py ├── actor_critic_ee.py ├── actor_critic_recurrent.py ├── 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