├── .gitmodules ├── LICENSE ├── README.md ├── mani-centric-wbc ├── .gitattributes ├── .gitignore ├── config │ ├── common.yaml │ ├── env │ │ ├── cfg │ │ │ └── rewards │ │ │ │ └── default.yaml │ │ ├── combo_go2ARX5_fixed_extreme_locomotion6d.yaml │ │ ├── combo_go2ARX5_fixed_locomotion6d.yaml │ │ ├── combo_go2ARX5_locomotion.yaml │ │ ├── combo_go2ARX5_locomotion6d.yaml │ │ ├── combo_go2ARX5_pickle_reaching.yaml │ │ ├── combo_go2ARX5_pickle_reaching_extreme.yaml │ │ ├── combo_go2ARX5_reaching.yaml │ │ ├── combo_go2_locomotion.yaml │ │ ├── combo_go2_locomotion6d.yaml │ │ ├── constraints │ │ │ ├── action_rate.yaml │ │ │ ├── close_to_default.yaml │ │ │ ├── collision.yaml │ │ │ ├── energy.yaml │ │ │ ├── even_leg_usage.yaml │ │ │ ├── even_mass_distribution.yaml │ │ │ ├── feet_drag.yaml │ │ │ ├── foot_contact_force.yaml │ │ │ ├── joint_acc.yaml │ │ │ ├── joint_limit.yaml │ │ │ ├── joint_vel.yaml │ │ │ ├── keep_links_close.yaml │ │ │ ├── planar_pose.yaml │ │ │ ├── point_body_at_gripper.yaml │ │ │ ├── root_height.yaml │ │ │ └── torque.yaml │ │ ├── controller │ │ │ └── clip_curriculum │ │ │ │ └── default.yaml │ │ ├── default_constraints.yaml │ │ ├── env_base.yaml │ │ ├── env_go2.yaml │ │ ├── env_go2ARX5.yaml │ │ ├── no_rand.yaml │ │ ├── obs │ │ │ ├── quadruped_privileged_setup.yaml │ │ │ ├── quadruped_privileged_state.yaml │ │ │ └── quadruped_state.yaml │ │ └── tasks │ │ │ ├── ee6dvelocity.yaml │ │ │ ├── local_2d_vel.yaml │ │ │ ├── locomotion6d.yaml │ │ │ ├── sequence_sampler │ │ │ └── pickle_pose_loader.yaml │ │ │ └── world_pos_reaching.yaml │ ├── eval.yaml │ ├── hydra │ │ └── job_logging │ │ │ └── custom.yaml │ ├── play.yaml │ ├── runner │ │ ├── alg │ │ │ ├── actor_critic │ │ │ │ ├── actor │ │ │ │ │ ├── default.yaml │ │ │ │ │ └── transformer_enc.yaml │ │ │ │ └── critic │ │ │ │ │ ├── default.yaml │ │ │ │ │ └── transformer_enc.yaml │ │ │ └── ppo.yaml │ │ └── on_policy_runner.yaml │ ├── train.yaml │ └── wandb.yaml ├── docs │ ├── assets │ │ ├── army.png │ │ ├── freestyle.png │ │ ├── geonode.png │ │ ├── starter.md │ │ ├── umi_on_legs_toss.gif │ │ └── visualization.md │ ├── starter.md │ ├── visualization.md │ └── wbc.md ├── isaac.yml ├── legged_gym │ ├── __init__.py │ ├── env │ │ ├── isaacgym │ │ │ ├── __init__.py │ │ │ ├── constraints.py │ │ │ ├── control.py │ │ │ ├── env.py │ │ │ ├── obs.py │ │ │ ├── pose_sequence.py │ │ │ ├── state.py │ │ │ ├── task.py │ │ │ ├── terrain.py │ │ │ ├── terrain_utils.py │ │ │ └── utils.py │ │ └── obs.py │ └── rsl_rl │ │ ├── __init__.py │ │ ├── algorithms │ │ ├── __init__.py │ │ └── ppo.py │ │ ├── env │ │ ├── __init__.py │ │ └── vec_env.py │ │ ├── modules │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── actor_critic_recurrent.py │ │ └── obs_encoder.py │ │ ├── runners │ │ ├── __init__.py │ │ ├── on_policy_runner.py │ │ └── utils.py │ │ ├── storage │ │ ├── __init__.py │ │ └── rollout_storage.py │ │ └── utils │ │ ├── __init__.py │ │ └── utils.py ├── resources │ └── robots │ │ ├── go2_arx5 │ │ ├── arx5_meshes │ │ │ ├── arx5_gripper_gear.mtl │ │ │ ├── arx5_gripper_gear.obj │ │ │ ├── arx5_gripper_left_finger.mtl │ │ │ ├── arx5_gripper_left_finger.obj │ │ │ ├── arx5_gripper_left_finger000.obj │ │ │ ├── arx5_gripper_left_finger001.obj │ │ │ ├── arx5_gripper_left_finger002.obj │ │ │ ├── arx5_gripper_motor.mtl │ │ │ ├── arx5_gripper_motor.obj │ │ │ ├── arx5_gripper_right_finger.mtl │ │ │ ├── arx5_gripper_right_finger.obj │ │ │ ├── arx5_gripper_right_finger000.obj │ │ │ ├── arx5_gripper_right_finger001.obj │ │ │ ├── arx5_gripper_right_finger002.obj │ │ │ ├── base_link.STL │ │ │ ├── base_link_new.stl │ │ │ ├── collider.obj │ │ │ ├── link1.STL │ │ │ ├── link1_new.stl │ │ │ ├── link2.STL │ │ │ ├── link2_new.stl │ │ │ ├── link2_yup_zforward.stl │ │ │ ├── link3.STL │ │ │ ├── link3_new.stl │ │ │ ├── link4.STL │ │ │ ├── link4_new.stl │ │ │ ├── link5.STL │ │ │ ├── link5_new.stl │ │ │ ├── link6.STL │ │ │ ├── link6_new.stl │ │ │ ├── link6_truncated.stl │ │ │ └── one_piece_wide_grasp_finray_finger.obj │ │ └── go2_arx5_finray_x85_z94.urdf │ │ └── go2_description │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ └── joint_names_go2_description.yaml │ │ ├── dae │ │ ├── base.dae │ │ ├── calf.dae │ │ ├── calf_mirror.dae │ │ ├── foot.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ └── thigh_mirror.dae │ │ ├── launch │ │ ├── check_joint.rviz │ │ ├── gazebo.launch │ │ └── go2_rviz.launch │ │ ├── package.xml │ │ └── urdf │ │ ├── Amended_collision_model.png │ │ ├── Normal_collision_model.png │ │ └── go2_description.urdf ├── scripts │ ├── evaluate.py │ ├── generate_pushing_trajectories.py │ ├── generate_random_trajectories.py │ ├── import_blender.py │ ├── play.py │ ├── preprocess_umi_trajs.py │ ├── train.py │ └── utils.py └── setup.py └── real-wbc ├── .devcontainer └── devcontainer.json ├── .gitignore ├── docker └── Dockerfile ├── docs ├── 3d_printing.md ├── assembly.md ├── assets │ ├── export_cad.png │ ├── hw_connector.jpg │ ├── hw_power.jpg │ ├── hw_switch.jpg │ └── slack_width.png ├── 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