├── .gitignore ├── HIT ├── constants.py ├── detr │ ├── LICENSE │ ├── README.md │ ├── build │ │ └── lib │ │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── backbone.py │ │ │ ├── detr_vae.py │ │ │ ├── latent_model.py │ │ │ ├── position_encoding.py │ │ │ └── transformer.py │ │ │ └── util │ │ │ ├── __init__.py │ │ │ ├── box_ops.py │ │ │ ├── misc.py │ │ │ └── plot_utils.py │ ├── main.py │ ├── models │ │ ├── __init__.py │ │ ├── backbone.py │ │ ├── detr_vae.py │ │ ├── latent_model.py │ │ ├── position_encoding.py │ │ ├── transformer.py │ │ └── transformer_bert.py │ ├── setup.py │ └── util │ │ ├── __init__.py │ │ ├── box_ops.py │ │ ├── misc.py │ │ └── plot_utils.py ├── imitate_episodes_h1_train.py ├── model_util.py ├── policy.py └── utils.py ├── HST ├── legged_gym │ ├── .gitattributes │ ├── data │ │ └── ACCAD_walk_10fps.npy │ ├── legged_gym │ │ ├── __init__.py │ │ ├── envs │ │ │ ├── __init__.py │ │ │ ├── a1 │ │ │ │ └── a1_config.py │ │ │ ├── anymal_b │ │ │ │ └── anymal_b_config.py │ │ │ ├── anymal_c │ │ │ │ ├── anymal.py │ │ │ │ ├── flat │ │ │ │ │ └── anymal_c_flat_config.py │ │ │ │ └── mixed_terrains │ │ │ │ │ └── anymal_c_rough_config.py │ │ │ ├── base │ │ │ │ ├── base_config.py │ │ │ │ ├── base_task.py │ │ │ │ ├── legged_robot.py │ │ │ │ └── legged_robot_config.py │ │ │ ├── cassie │ │ │ │ ├── cassie.py │ │ │ │ └── cassie_config.py │ │ │ └── h1 │ │ │ │ ├── h1.py │ │ │ │ └── h1_config.py │ │ ├── scripts │ │ │ ├── play.py │ │ │ └── train.py │ │ ├── tests │ │ │ └── test_env.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── helpers.py │ │ │ ├── human.py │ │ │ ├── logger.py │ │ │ ├── math.py │ │ │ ├── task_registry.py │ │ │ └── terrain.py │ ├── resources │ │ └── robots │ │ │ ├── a1 │ │ │ ├── a1_license.txt │ │ │ ├── meshes │ │ │ │ ├── calf.dae │ │ │ │ ├── hip.dae │ │ │ │ ├── thigh.dae │ │ │ │ ├── thigh_mirror.dae │ │ │ │ └── trunk.dae │ │ │ └── urdf │ │ │ │ └── a1.urdf │ │ │ ├── anymal_b │ │ │ ├── ANYmal_b_license.txt │ │ │ ├── meshes │ │ │ │ ├── anymal_base.dae │ │ │ │ ├── anymal_foot.dae │ │ │ │ ├── anymal_hip_l.dae │ │ │ │ ├── anymal_hip_r.dae │ │ │ │ ├── anymal_shank_l.dae │ │ │ │ ├── anymal_shank_r.dae │ │ │ │ ├── anymal_thigh_l.dae │ │ │ │ ├── anymal_thigh_r.dae │ │ │ │ ├── base_uv_texture.jpg │ │ │ │ └── carbon_uv_texture.jpg │ │ │ └── urdf │ │ │ │ └── anymal_b.urdf │ │ │ ├── anymal_c │ │ │ ├── ANYmal_c_license.txt │ │ │ ├── meshes │ │ │ │ ├── base.dae │ │ │ │ ├── base.jpg │ │ │ │ ├── battery.dae │ │ │ │ ├── battery.jpg │ │ │ │ ├── bottom_shell.dae │ │ │ │ ├── bottom_shell.jpg │ │ │ │ ├── depth_camera.dae │ │ │ │ ├── depth_camera.jpg │ │ │ │ ├── drive.dae │ │ │ │ ├── drive.jpg │ │ │ │ ├── face.dae │ │ │ │ ├── face.jpg │ │ │ │ ├── foot.dae │ │ │ │ ├── foot.jpg │ │ │ │ ├── handle.dae │ │ │ │ ├── handle.jpg │ │ │ │ ├── hatch.dae │ │ │ │ ├── hatch.jpg │ │ │ │ ├── hip.jpg │ │ │ │ ├── hip_l.dae │ │ │ │ ├── hip_r.dae │ │ │ │ ├── lidar.dae │ │ │ │ ├── lidar.jpg │ │ │ │ ├── lidar_cage.dae │ │ │ │ ├── lidar_cage.jpg │ │ │ │ ├── remote.dae │ │ │ │ ├── remote.jpg │ │ │ │ ├── shank.jpg │ │ │ │ ├── shank_l.dae │ │ │ │ ├── shank_r.dae │ │ │ │ ├── thigh.dae │ │ │ │ ├── thigh.jpg │ │ │ │ ├── top_shell.dae │ │ │ │ ├── top_shell.jpg │ │ │ │ ├── wide_angle_camera.dae │ │ │ │ └── wide_angle_camera.jpg │ │ │ └── urdf │ │ │ │ └── anymal_c.urdf │ │ │ ├── cassie │ │ │ ├── cassie_license.txt │ │ │ ├── meshes │ │ │ │ ├── abduction.stl │ │ │ │ ├── abduction_mirror.stl │ │ │ │ ├── achilles-rod.stl │ │ │ │ ├── hip.stl │ │ │ │ ├── hip_mirror.stl │ │ │ │ ├── knee-output.stl │ │ │ │ ├── knee-output_mirror.stl │ │ │ │ ├── pelvis.stl │ │ │ │ ├── plantar-rod.stl │ │ │ │ ├── shin-bone.stl │ │ │ │ ├── shin-bone_mirror.stl │ │ │ │ ├── tarsus.stl │ │ │ │ ├── tarsus_mirror.stl │ │ │ │ ├── thigh.stl │ │ │ │ ├── thigh_mirror.stl │ │ │ │ ├── toe-output-crank.stl │ │ │ │ ├── toe.stl │ │ │ │ ├── toe_mirror.stl │ │ │ │ ├── torso.stl │ │ │ │ ├── yaw.stl │ │ │ │ └── yaw_mirror.stl │ │ │ └── urdf │ │ │ │ └── cassie.urdf │ │ │ └── h1 │ │ │ ├── meshes │ │ │ ├── left_ankle_link.STL │ │ │ ├── left_ankle_link_modified.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_ankle_link_modified.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 │ │ │ └── urdf │ │ │ ├── h1.urdf │ │ │ ├── h1_description.gv │ │ │ └── h1_description.pdf │ └── setup.py └── rsl_rl │ ├── 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 │ │ └── actor_critic_transformer.py │ ├── runners │ │ ├── __init__.py │ │ └── on_policy_runner.py │ ├── storage │ │ ├── __init__.py │ │ └── rollout_storage.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py │ └── setup.py ├── README.md └── hardware ├── crc_module.so ├── dynamixel_client.py ├── hardware_whole_body.py └── web_hand.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarkFzp/humanplus/HEAD/.gitignore -------------------------------------------------------------------------------- /HIT/constants.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MarkFzp/humanplus/HEAD/HIT/constants.py -------------------------------------------------------------------------------- /HIT/detr/LICENSE: 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