├── .gitignore ├── README.md ├── checkpoints ├── G1PushDoorHand │ ├── policy-xg6644nr-final.json │ ├── policy-xg6644nr-final.onnx │ ├── policy-xg6644nr-final.pt │ └── policy-xg6644nr-final.yaml ├── G1RollBall │ ├── policy-yte3rr8b-final.json │ ├── policy-yte3rr8b-final.onnx │ ├── policy-yte3rr8b-final.pt │ └── policy-yte3rr8b-final.yaml └── G1TrackSuitcase │ ├── policy-v55m8a23-final.json │ ├── policy-v55m8a23-final.onnx │ ├── policy-v55m8a23-final.pt │ └── policy-v55m8a23-final.yaml ├── config ├── robot │ ├── g1-real.yaml │ └── g1.yaml └── scene │ ├── g1_29dof_rubberhand-ball.yaml │ ├── g1_29dof_rubberhand-door.yaml │ └── g1_29dof_rubberhand-suitcase.yaml ├── data ├── motion │ ├── push_box-11steps │ │ ├── meta.json │ │ └── motion.npz │ └── push_box │ │ └── push_box-VID_20250423_220958-light-high-adjust_root_height-zero_waist_pitch-processed │ │ ├── meta.json │ │ └── motion.npz ├── objects │ ├── ball │ │ ├── ball.xml │ │ └── texture.png │ ├── box │ │ └── box.xml │ ├── door │ │ ├── door-freebase.xml │ │ ├── door-opened.xml │ │ └── door.xml │ ├── foam │ │ ├── foam.xml │ │ └── foam_with_support.xml │ ├── stair │ │ └── stair.xml │ ├── stool │ │ ├── stool.xml │ │ └── stool_with_support.xml │ └── suitcase │ │ └── suitcase.xml └── robots │ └── g1 │ ├── g1_29dof_nohand-door.xml │ ├── g1_29dof_nohand-eef_L-box.xml │ ├── g1_29dof_nohand-suitcase.xml │ ├── g1_29dof_nohand.xml │ ├── g1_29dof_rubberhand-ball.xml │ ├── g1_29dof_rubberhand-bread_box.xml │ ├── g1_29dof_rubberhand-door-freebase.xml │ ├── g1_29dof_rubberhand-door.xml │ ├── g1_29dof_rubberhand-foam.xml │ ├── g1_29dof_rubberhand-foam_with_support.xml │ ├── g1_29dof_rubberhand-stair.xml │ ├── g1_29dof_rubberhand-stool.xml │ ├── g1_29dof_rubberhand-suitcase.xml │ └── meshes │ ├── 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 │ ├── 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 ├── infra.drawio.png ├── pyproject.toml ├── requirements.txt ├── rl_policy ├── base_policy.py ├── box_transport.py ├── observations │ ├── __init__.py │ ├── base.py │ ├── box_transport.py │ ├── common.py │ ├── locomotion.py │ ├── motion.py │ └── 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