├── Project Note.pdf ├── README.md ├── deploy ├── deploy_mujoco │ ├── configs │ │ ├── g1.yaml │ │ ├── h1.yaml │ │ └── h1_2.yaml │ └── deploy_mujoco.py ├── deploy_real │ ├── README.md │ ├── README.zh.md │ ├── common │ │ ├── command_helper.py │ │ ├── remote_controller.py │ │ └── rotation_helper.py │ ├── config.py │ ├── configs │ │ ├── g1.yaml │ │ ├── h1.yaml │ │ └── h1_2.yaml │ └── deploy_real.py └── pre_train │ ├── g1 │ └── motion.pt │ ├── h1 │ └── motion.pt │ └── h1_2 │ └── motion.pt ├── doc ├── setup_en.md └── setup_zh.md ├── image-11.png ├── legged_gym ├── LICENSE ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-312.pyc │ └── __init__.cpython-38.pyc ├── envs │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ ├── base │ │ ├── __pycache__ │ │ │ ├── base_config.cpython-38.pyc │ │ │ ├── base_task.cpython-38.pyc │ │ │ ├── legged_robot.cpython-38.pyc │ │ │ └── legged_robot_config.cpython-38.pyc │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── legged_robot.py │ │ └── legged_robot_config.py │ ├── g1 │ │ ├── __pycache__ │ │ │ ├── g1_config.cpython-38.pyc │ │ │ ├── g1_env.cpython-38.pyc │ │ │ ├── g1_fixed_config.cpython-38.pyc │ │ │ ├── g1_fixed_env.cpython-38.pyc │ │ │ ├── g1_fixed_ik_config.cpython-38.pyc │ │ │ ├── g1_fixed_ik_env.cpython-38.pyc │ │ │ ├── g1_single_config.cpython-38.pyc │ │ │ └── g1_single_env.cpython-38.pyc │ │ ├── g1_config.py │ │ └── g1_env.py │ ├── go2 │ │ ├── __pycache__ │ │ │ └── go2_config.cpython-38.pyc │ │ └── go2_config.py │ ├── h1 │ │ ├── __pycache__ │ │ │ ├── h1_config.cpython-38.pyc │ │ │ └── h1_env.cpython-38.pyc │ │ ├── h1_config.py │ │ └── h1_env.py │ └── h1_2 │ │ ├── README.md │ │ ├── __pycache__ │ │ ├── h1_2_config.cpython-38.pyc │ │ └── h1_2_env.cpython-38.pyc │ │ ├── h1_2_config.py │ │ └── h1_2_env.py ├── scripts │ ├── play.py │ ├── play_g1_fixed.py │ ├── play_g1_handmove.py │ ├── play_g1_ik_iteration.py │ ├── play_g1_ik_math.py │ └── train.py └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── helpers.cpython-38.pyc │ ├── isaacgym_utils.cpython-38.pyc │ ├── logger.cpython-38.pyc │ ├── math.cpython-38.pyc │ ├── task_registry.cpython-38.pyc │ └── terrain.cpython-38.pyc │ ├── helpers.py │ ├── isaacgym_utils.py │ ├── logger.py │ ├── math.py │ ├── task_registry.py │ └── terrain.py ├── logs ├── g1 │ ├── Apr19_02-15-25_ │ │ ├── events.out.tfevents.1745000126.yth-Legion-Y9000P-IAH7H.6116.0 │ │ └── model_0.pt │ ├── Apr19_02-25-31_ │ │ └── events.out.tfevents.1745000732.yth-Legion-Y9000P-IAH7H.8461.0 │ ├── Apr19_03-15-28_ │ │ ├── events.out.tfevents.1745003729.yth-Legion-Y9000P-IAH7H.15251.0 │ │ └── model_0.pt │ ├── Apr19_03-18-51_ │ │ ├── events.out.tfevents.1745003932.yth-Legion-Y9000P-IAH7H.15573.0 │ │ ├── model_0.pt │ │ ├── model_100.pt │ │ ├── model_150.pt │ │ ├── model_200.pt │ │ ├── model_250.pt │ │ ├── model_300.pt │ │ ├── model_350.pt │ │ ├── model_400.pt │ │ ├── model_450.pt │ │ ├── model_50.pt │ │ ├── model_500.pt │ │ ├── model_550.pt │ │ ├── model_600.pt │ │ └── model_650.pt │ └── exported │ │ └── policies │ │ └── policy_lstm_1.pt └── rough_go2 │ └── Apr19_17-27-32_ │ └── events.out.tfevents.1745054853.yth-Legion-Y9000P-IAH7H.7966.0 ├── resources └── robots │ ├── g1_description │ ├── README.md │ ├── g1_12dof.urdf │ ├── g1_12dof.xml │ ├── g1_23dof.urdf │ ├── g1_23dof.xml │ ├── g1_23dof_rev_1_0.urdf │ ├── g1_23dof_rev_1_0.xml │ ├── g1_29dof.urdf │ ├── g1_29dof.xml │ ├── g1_29dof_lock_waist.urdf │ ├── g1_29dof_lock_waist.xml │ ├── g1_29dof_lock_waist_rev_1_0.urdf │ ├── g1_29dof_lock_waist_rev_1_0.xml │ ├── g1_29dof_rev_1_0.urdf │ ├── g1_29dof_rev_1_0.xml │ ├── g1_29dof_with_hand.urdf │ ├── g1_29dof_with_hand.xml │ ├── g1_29dof_with_hand_rev_1_0.urdf │ ├── g1_29dof_with_hand_rev_1_0.xml │ ├── g1_dual_arm.urdf │ ├── g1_dual_arm.xml │ ├── images │ │ ├── g1_23dof.png │ │ ├── g1_29dof.png │ │ ├── g1_29dof_with_hand.png │ │ └── g1_dual_arm.png │ ├── meshes │ │ ├── file.txt │ │ ├── head_link.STL │ │ ├── left_ankle_pitch_link.STL │ │ ├── left_ankle_roll_link.STL │ │ ├── left_elbow_link.STL │ │ ├── left_hand_index_0_link.STL │ │ ├── left_hand_index_1_link.STL │ │ ├── left_hand_middle_0_link.STL │ │ ├── left_hand_middle_1_link.STL │ │ ├── left_hand_palm_link.STL │ │ ├── left_hand_thumb_0_link.STL │ │ ├── left_hand_thumb_1_link.STL │ │ ├── left_hand_thumb_2_link.STL │ │ ├── left_hip_pitch_link.STL │ │ ├── left_hip_roll_link.STL │ │ ├── left_hip_yaw_link.STL │ │ ├── left_knee_link.STL │ │ ├── left_rubber_hand.STL │ │ ├── left_shoulder_pitch_link.STL │ │ ├── left_shoulder_roll_link.STL │ │ ├── left_shoulder_yaw_link.STL │ │ ├── left_wrist_pitch_link.STL │ │ ├── left_wrist_roll_link.STL │ │ ├── left_wrist_roll_rubber_hand.STL │ │ ├── left_wrist_yaw_link.STL │ │ ├── logo_link.STL │ │ ├── pelvis.STL │ │ ├── pelvis_contour_link.STL │ │ ├── right_ankle_pitch_link.STL │ │ ├── right_ankle_roll_link.STL │ │ ├── right_elbow_link.STL │ │ ├── right_hand_index_0_link.STL │ │ ├── right_hand_index_1_link.STL │ │ ├── right_hand_middle_0_link.STL │ │ ├── right_hand_middle_1_link.STL │ │ └── right_hand_palm_link.STL │ ├── right_hand_thumb_0_link.STL │ ├── right_hand_thumb_1_link.STL │ ├── right_hand_thumb_2_link.STL │ ├── right_hip_pitch_link.STL │ ├── right_hip_roll_link.STL │ ├── right_hip_yaw_link.STL │ ├── right_knee_link.STL │ ├── right_rubber_hand.STL │ ├── right_shoulder_pitch_link.STL │ ├── right_shoulder_roll_link.STL │ ├── right_shoulder_yaw_link.STL │ ├── right_wrist_pitch_link.STL │ ├── right_wrist_roll_link.STL │ ├── right_wrist_roll_rubber_hand.STL │ ├── right_wrist_yaw_link.STL │ ├── scene.xml │ ├── torso_constraint_L_link.STL │ ├── torso_constraint_L_rod_link.STL │ ├── torso_constraint_R_link.STL │ ├── torso_constraint_R_rod_link.STL │ ├── torso_link.STL │ ├── torso_link_23dof_rev_1_0.STL │ ├── torso_link_rev_1_0.STL │ ├── waist_constraint_L.STL │ ├── waist_constraint_R.STL │ ├── waist_roll_link.STL │ ├── waist_roll_link_rev_1_0.STL │ ├── waist_support_link.STL │ ├── waist_yaw_link.STL │ └── waist_yaw_link_rev_1_0.STL │ ├── go2 │ ├── dae │ │ ├── base.dae │ │ ├── calf.dae │ │ ├── calf_mirror.dae │ │ ├── foot.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ └── thigh_mirror.dae │ └── urdf │ │ └── go2.urdf │ └── h1 │ ├── h1.xml │ ├── meshes │ ├── left_ankle_link.STL │ ├── left_elbow_link.STL │ ├── left_hip_pitch_link.STL │ ├── left_hip_roll_link.STL │ ├── left_hip_yaw_link.STL │ ├── left_knee_link.STL │ ├── left_shoulder_pitch_link.STL │ ├── left_shoulder_roll_link.STL │ ├── left_shoulder_yaw_link.STL │ ├── logo_link.STL │ ├── pelvis.STL │ ├── right_ankle_link.STL │ ├── right_elbow_link.STL │ ├── right_hip_pitch_link.STL │ ├── right_hip_roll_link.STL │ ├── right_hip_yaw_link.STL │ ├── right_knee_link.STL │ ├── right_shoulder_pitch_link.STL │ ├── right_shoulder_roll_link.STL │ ├── right_shoulder_yaw_link.STL │ └── torso_link.STL │ ├── scene.xml │ └── urdf │ └── h1.urdf └── setup.py /Project Note.pdf: 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