├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── Lite3_description └── lite3_mjcf │ └── mjcf │ ├── Lite3_stair.xml │ └── stair.xml ├── README.md ├── README_EN.md ├── interface ├── CMakeLists.txt ├── robot │ ├── hardware │ │ └── hardware_interface.hpp │ ├── robot_interface.h │ └── simulation │ │ ├── mujoco_simulation.py │ │ ├── pybullet_simulation.py │ │ └── simulation_interface.hpp ├── test.cpp └── user_command │ ├── keyboard_interface.hpp │ ├── retroid_gamepad_interface.hpp │ ├── skydroid_gamepad_interface.hpp │ └── user_command_interface.h ├── main.cpp ├── policy ├── ppo │ └── policy.onnx └── pt2onnx.py ├── run_policy ├── lite3_test_policy_runner_onnx.hpp └── policy_runner_base.hpp ├── scripts ├── scp_onnx_to_remote.sh ├── scp_torch_to_remote.sh └── sftp_to_remote.sh ├── state_machine ├── idle_state.hpp ├── joint_damping_state.hpp ├── parameters │ ├── control_parameters.h │ └── lite3_control_parameters.cpp ├── rl_control_state.hpp ├── rl_control_state_onnx.hpp ├── standup_state.hpp ├── state_base.h └── state_machine.hpp ├── third_party ├── mujoco │ ├── arm │ │ ├── THIRD_PARTY_NOTICES │ │ ├── bin │ │ │ ├── basic │ │ │ ├── compile │ │ │ ├── derivative │ │ │ ├── mujoco_plugin │ │ │ │ ├── libelasticity.so │ │ │ │ └── libsensor.so │ │ │ ├── record │ │ │ ├── simulate │ │ │ ├── testspeed │ │ │ └── testxml │ │ ├── include │ │ │ └── mujoco │ │ │ │ ├── mjdata.h │ │ │ │ ├── mjexport.h │ │ │ │ ├── mjmacro.h │ │ │ │ ├── mjmodel.h │ │ │ │ ├── mjplugin.h │ │ │ │ ├── mjrender.h │ │ │ │ ├── mjtnum.h │ │ │ │ ├── mjui.h │ │ │ │ ├── mjvisualize.h │ │ │ │ ├── mjxmacro.h │ │ │ │ └── mujoco.h │ │ ├── lib │ │ │ ├── libmujoco.so │ │ │ └── libmujoco.so.2.3.7 │ │ ├── model │ │ │ ├── adhesion │ │ │ │ ├── README.md │ │ │ │ └── active_adhesion.xml │ │ │ ├── balloons │ │ │ │ └── balloons.xml │ │ │ ├── car │ │ │ │ └── car.xml │ │ │ ├── composite │ │ │ │ ├── asset │ │ │ │ │ ├── carpet.png │ │ │ │ │ ├── marble.png │ │ │ │ │ └── sponge.png │ │ │ │ ├── cloth.xml │ │ │ │ ├── grid2pin.xml │ │ │ │ ├── loop.xml │ │ │ │ ├── particle.xml │ │ │ │ ├── particle_free.xml │ │ │ │ ├── particle_free2d.xml │ │ │ │ ├── scene.xml │ │ │ │ └── softbox.xml │ │ │ ├── cube │ │ │ │ ├── README.md │ │ │ │ ├── assets │ │ │ │ │ ├── blue.png │ │ │ │ │ ├── blue_orange.png │ │ │ │ │ ├── blue_orange_white.png │ │ │ │ │ ├── blue_orange_yellow.png │ │ │ │ │ ├── blue_red.png │ │ │ │ │ ├── blue_red_white.png │ │ │ │ │ ├── blue_red_yellow.png │ │ │ │ │ ├── blue_white.png │ │ │ │ │ ├── blue_yellow.png │ │ │ │ │ ├── green.png │ │ │ │ │ ├── green_orange.png │ │ │ │ │ ├── green_orange_white.png │ │ │ │ │ ├── green_orange_yellow.png │ │ │ │ │ ├── green_red.png │ │ │ │ │ ├── green_red_white.png │ │ │ │ │ ├── green_red_yellow.png │ │ │ │ │ ├── green_white.png │ │ │ │ │ ├── green_yellow.png │ │ │ │ │ ├── orange.png │ │ │ │ │ ├── orange_red.png │ │ │ │ │ ├── orange_white.png │ │ │ │ │ ├── orange_yellow.png │ │ │ │ │ ├── red.png │ │ │ │ │ ├── red_white.png │ │ │ │ │ ├── red_yellow.png │ │ │ │ │ ├── white.png │ │ │ │ │ └── yellow.png │ │ │ │ └── cube_3x3x3.xml │ │ │ ├── flag │ │ │ │ └── flag.xml │ │ │ ├── hammock │ │ │ │ ├── hammock.xml │ │ │ │ └── humanoid_body.xml │ │ │ ├── humanoid │ │ │ │ ├── 22_humanoids.xml │ │ │ │ ├── README.md │ │ │ │ ├── humanoid.png │ │ │ │ └── humanoid.xml │ │ │ ├── humanoid100 │ │ │ │ ├── humanoid100.xml │ │ │ │ └── humanoid_body.xml │ │ │ ├── mug │ │ │ │ ├── mug.obj │ │ │ │ ├── mug.png │ │ │ │ └── mug.xml │ │ │ ├── plugin │ │ │ │ ├── a.png │ │ │ │ ├── belt.xml │ │ │ │ ├── cable.xml │ │ │ │ ├── coil.xml │ │ │ │ ├── floppy.xml │ │ │ │ ├── jelly.xml │ │ │ │ ├── press.xml │ │ │ │ ├── scene.xml │ │ │ │ └── touch_grid.xml │ │ │ ├── slider_crank │ │ │ │ └── slider_crank.xml │ │ │ └── tendon_arm │ │ │ │ └── arm26.xml │ │ ├── sample │ │ │ ├── Makefile │ │ │ ├── array_safety.h │ │ │ ├── basic.cc │ │ │ ├── cmake │ │ │ │ ├── CheckAvxSupport.cmake │ │ │ │ ├── FindOrFetch.cmake │ │ │ │ ├── MujocoHarden.cmake │ │ │ │ ├── MujocoLinkOptions.cmake │ │ │ │ ├── MujocoMacOS.cmake │ │ │ │ ├── SampleDependencies.cmake │ │ │ │ └── SampleOptions.cmake │ │ │ ├── compile.cc │ │ │ ├── derivative.cc │ │ │ ├── record.cc │ │ │ ├── testspeed.cc │ │ │ └── testxml.cc │ │ └── simulate │ │ │ ├── Makefile │ │ │ ├── README.md │ │ │ ├── array_safety.h │ │ │ ├── cmake │ │ │ ├── CheckAvxSupport.cmake │ │ │ ├── FindOrFetch.cmake │ │ │ ├── MujocoHarden.cmake │ │ │ ├── MujocoLinkOptions.cmake │ │ │ ├── MujocoMacOS.cmake │ │ │ ├── SimulateDependencies.cmake │ │ │ └── SimulateOptions.cmake │ │ │ ├── glfw_adapter.cc │ │ │ ├── glfw_adapter.h │ │ │ ├── glfw_corevideo.h │ │ │ ├── glfw_corevideo.mm │ │ │ ├── glfw_dispatch.cc │ │ │ ├── glfw_dispatch.h │ │ │ ├── main.cc │ │ │ ├── platform_ui_adapter.cc │ │ │ ├── platform_ui_adapter.h │ │ │ ├── simulate.cc │ │ │ └── simulate.h │ └── x86 │ │ ├── THIRD_PARTY_NOTICES │ │ ├── bin │ │ ├── basic │ │ ├── compile │ │ ├── derivative │ │ ├── mujoco_plugin │ │ │ ├── libelasticity.so │ │ │ └── libsensor.so │ │ ├── record │ │ ├── simulate │ │ ├── testspeed │ │ └── testxml │ │ ├── include │ │ └── mujoco │ │ │ ├── mjdata.h │ │ │ ├── mjexport.h │ │ │ ├── mjmacro.h │ │ │ ├── mjmodel.h │ │ │ ├── mjplugin.h │ │ │ ├── mjrender.h │ │ │ ├── mjtnum.h │ │ │ ├── mjui.h │ │ │ ├── mjvisualize.h │ │ │ ├── mjxmacro.h │ │ │ └── mujoco.h │ │ ├── lib │ │ ├── libmujoco.so │ │ └── libmujoco.so.2.3.7 │ │ ├── model │ │ ├── adhesion │ │ │ ├── README.md │ │ │ └── active_adhesion.xml │ │ ├── balloons │ │ │ └── balloons.xml │ │ ├── car │ │ │ └── car.xml │ │ ├── composite │ │ │ ├── asset │ │ │ │ ├── carpet.png │ │ │ │ ├── marble.png │ │ │ │ └── sponge.png │ │ │ ├── cloth.xml │ │ │ ├── grid2pin.xml │ │ │ ├── loop.xml │ │ │ ├── particle.xml │ │ │ ├── particle_free.xml │ │ │ ├── particle_free2d.xml │ │ │ ├── scene.xml │ │ │ └── softbox.xml │ │ ├── cube │ │ │ ├── README.md │ │ │ ├── assets │ │ │ │ ├── blue.png │ │ │ │ ├── blue_orange.png │ │ │ │ ├── blue_orange_white.png │ │ │ │ ├── blue_orange_yellow.png │ │ │ │ ├── blue_red.png │ │ │ │ ├── blue_red_white.png │ │ │ │ ├── blue_red_yellow.png │ │ │ │ ├── blue_white.png │ │ │ │ ├── blue_yellow.png │ │ │ │ ├── green.png │ │ │ │ ├── green_orange.png │ │ │ │ ├── green_orange_white.png │ │ │ │ ├── green_orange_yellow.png │ │ │ │ ├── green_red.png │ │ │ │ ├── green_red_white.png │ │ │ │ ├── green_red_yellow.png │ │ │ │ ├── green_white.png │ │ │ │ ├── green_yellow.png │ │ │ │ ├── orange.png │ │ │ │ ├── orange_red.png │ │ │ │ ├── orange_white.png │ │ │ │ ├── orange_yellow.png │ │ │ │ ├── red.png │ │ │ │ ├── red_white.png │ │ │ │ ├── red_yellow.png │ │ │ │ ├── white.png │ │ │ │ └── yellow.png │ │ │ └── cube_3x3x3.xml │ │ ├── flag │ │ │ └── flag.xml │ │ ├── hammock │ │ │ ├── hammock.xml │ │ │ └── humanoid_body.xml │ │ ├── humanoid │ │ │ ├── 22_humanoids.xml │ │ │ ├── README.md │ │ │ ├── humanoid.png │ │ │ └── humanoid.xml │ │ ├── humanoid100 │ │ │ ├── humanoid100.xml │ │ │ └── humanoid_body.xml │ │ ├── mug │ │ │ ├── mug.obj │ │ │ ├── mug.png │ │ │ └── mug.xml │ │ ├── plugin │ │ │ ├── a.png │ │ │ ├── belt.xml │ │ │ ├── cable.xml │ │ │ ├── coil.xml │ │ │ ├── floppy.xml │ │ │ ├── jelly.xml │ │ │ ├── press.xml │ │ │ ├── scene.xml │ │ │ └── touch_grid.xml │ │ ├── slider_crank │ │ │ └── slider_crank.xml │ │ └── tendon_arm │ │ │ └── arm26.xml │ │ ├── sample │ │ ├── Makefile │ │ ├── array_safety.h │ │ ├── basic.cc │ │ ├── cmake │ │ │ ├── CheckAvxSupport.cmake │ │ │ ├── FindOrFetch.cmake │ │ │ ├── MujocoHarden.cmake │ │ │ ├── MujocoLinkOptions.cmake │ │ │ ├── MujocoMacOS.cmake │ │ │ ├── SampleDependencies.cmake │ │ │ └── SampleOptions.cmake │ │ ├── compile.cc │ │ ├── derivative.cc │ │ ├── record.cc │ │ ├── testspeed.cc │ │ └── testxml.cc │ │ └── simulate │ │ ├── Makefile │ │ ├── README.md │ │ ├── array_safety.h │ │ ├── cmake │ │ ├── CheckAvxSupport.cmake │ │ ├── FindOrFetch.cmake │ │ ├── MujocoHarden.cmake │ │ ├── MujocoLinkOptions.cmake │ │ ├── MujocoMacOS.cmake │ │ ├── SimulateDependencies.cmake │ │ └── SimulateOptions.cmake │ │ ├── glfw_adapter.cc │ │ ├── glfw_adapter.h │ │ ├── glfw_corevideo.h │ │ ├── glfw_corevideo.mm │ │ ├── glfw_dispatch.cc │ │ ├── glfw_dispatch.h │ │ ├── main.cc │ │ ├── platform_ui_adapter.cc │ │ ├── platform_ui_adapter.h │ │ ├── simulate.cc │ │ └── simulate.h └── onnxruntime │ ├── arm │ ├── GIT_COMMIT_ID │ ├── LICENSE │ ├── Privacy.md │ ├── README.md │ ├── ThirdPartyNotices.txt │ ├── VERSION_NUMBER │ ├── include │ │ ├── core │ │ │ └── providers │ │ │ │ ├── custom_op_context.h │ │ │ │ └── resource.h │ │ ├── cpu_provider_factory.h │ │ ├── onnxruntime_c_api.h │ │ ├── onnxruntime_cxx_api.h │ │ ├── onnxruntime_cxx_inline.h │ │ ├── onnxruntime_float16.h │ │ ├── onnxruntime_lite_custom_op.h │ │ ├── onnxruntime_run_options_config_keys.h │ │ ├── onnxruntime_session_options_config_keys.h │ │ └── provider_options.h │ └── lib │ │ ├── cmake │ │ └── onnxruntime │ │ │ ├── onnxruntimeConfig.cmake │ │ │ ├── onnxruntimeConfigVersion.cmake │ │ │ ├── onnxruntimeTargets-release.cmake │ │ │ └── onnxruntimeTargets.cmake │ │ ├── libonnxruntime.so │ │ ├── libonnxruntime.so.1 │ │ ├── libonnxruntime.so.1.22.0 │ │ ├── libonnxruntime_providers_shared.so │ │ └── pkgconfig │ │ └── libonnxruntime.pc │ └── x86 │ ├── GIT_COMMIT_ID │ ├── LICENSE │ ├── Privacy.md │ ├── README.md │ ├── ThirdPartyNotices.txt │ ├── VERSION_NUMBER │ ├── include │ ├── core │ │ └── providers │ │ │ ├── custom_op_context.h │ │ │ └── resource.h │ ├── cpu_provider_factory.h │ ├── onnxruntime_c_api.h │ ├── onnxruntime_cxx_api.h │ ├── onnxruntime_cxx_inline.h │ ├── onnxruntime_float16.h │ ├── onnxruntime_lite_custom_op.h │ ├── onnxruntime_run_options_config_keys.h │ ├── onnxruntime_session_options_config_keys.h │ └── provider_options.h │ └── lib │ ├── cmake │ └── onnxruntime │ │ ├── onnxruntimeConfig.cmake │ │ ├── onnxruntimeConfigVersion.cmake │ │ ├── onnxruntimeTargets-release.cmake │ │ └── onnxruntimeTargets.cmake │ ├── libonnxruntime.so │ ├── libonnxruntime.so.1 │ ├── libonnxruntime.so.1.22.0 │ ├── libonnxruntime_providers_shared.so │ └── pkgconfig │ └── 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