├── .DS_Store ├── .vscode └── settings.json ├── README.md ├── algorithm ├── __init__.py └── np3o.py ├── configs ├── __init__.py ├── base_config.py ├── go2_constraint_him.py └── legged_robot_config.py ├── envs ├── __init__.py ├── base_task.py ├── legged_robot.py └── vec_env.py ├── global_config.py ├── model_10000.pt ├── model_10000_32_sb.pt ├── modules ├── __init__.py ├── actor_critic.py ├── common_modules.py ├── depth_backbone.py ├── estimator.py ├── normalizer.py └── transformer_modules.py ├── resources └── go2 │ ├── dae │ ├── base.dae │ ├── calf.dae │ ├── calf_mirror.dae │ ├── foot.dae │ ├── hip.dae │ ├── thigh.dae │ └── thigh_mirror.dae │ └── urdf │ └── go2.urdf ├── runner ├── __init__.py ├── on_constraint_policy_runner.py └── rollout_storage.py ├── simple_play.py ├── train.py └── utils ├── __init__.py ├── helpers.py ├── logger.py ├── math.py ├── task_registry.py ├── terrain.py └── utils.py /.DS_Store: -------------------------------------------------------------------------------- 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