├── .dockerignore ├── .flake8 ├── .gitattributes ├── .gitignore ├── .pre-commit-config.yaml ├── .vscode ├── .gitignore └── tools │ └── setup_vscode.py ├── LICENSE ├── README.md ├── docs ├── licenses │ ├── LICENSE-MimicKit.txt │ ├── LICENSE-g1_spinkick_example.txt │ ├── LICENSE-mjlab.txt │ ├── LICENSE-unitree_model.txt │ └── LICENSE-whole_body_tracking.txt └── robot.mp4 ├── pyproject.toml ├── scripts ├── list_envs.py ├── motions │ ├── csv_to_npz.py │ ├── pkl_to_csv.py │ └── replay_npz.py ├── random_agent.py ├── rsl_rl │ ├── checkpoints │ │ └── sidekick.pt │ ├── cli_args.py │ ├── play.py │ └── train.py └── zero_agent.py └── source └── motion_tracking ├── config └── extension.toml ├── data ├── motions │ ├── csv │ │ └── g1_spinkick.csv │ ├── npz │ │ └── g1_spinkick.npz │ └── pkl │ │ ├── g1_cartwheel.pkl │ │ ├── g1_double_kong.pkl │ │ ├── g1_run.pkl │ │ ├── g1_speed_vault.pkl │ │ ├── g1_spinkick.pkl │ │ └── g1_walk.pkl └── unitree_g1 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── 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 │ ├── package.xml │ ├── urdf │ └── main.urdf │ └── usd │ ├── config.yaml │ ├── configuration │ ├── main_base.usd │ ├── main_physics.usd │ └── main_sensor.usd │ ├── main.usd │ └── main_no_collider.usd ├── docs └── CHANGELOG.rst ├── motion_tracking ├── __init__.py ├── assets │ ├── __init__.py │ └── g1.py ├── dataset │ ├── __init__.py │ └── motion_loader.py └── tasks │ ├── __init__.py │ └── motion_tracking │ ├── __init__.py │ ├── agents │ ├── __init__.py │ └── rsl_rl_ppo_cfg.py │ ├── mdp │ ├── __init__.py │ ├── commands │ │ ├── __init__.py │ │ ├── motion_command.py │ │ └── motion_command_cfg.py │ ├── events.py │ ├── observations.py │ ├── rewards.py │ ├── terminations.py │ └── utils.py │ └── motion_tracking_env_cfg.py ├── pyproject.toml └── setup.py /.dockerignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Mayankm96/isaac-spinning-up/HEAD/.dockerignore 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