├── .gitignore ├── LICENSE ├── README.md ├── assets ├── TWIST.png ├── g1 │ ├── README.md │ ├── g1_12dof.xml │ ├── g1_29dof_rev_1_0.urdf │ ├── g1_29dof_rev_1_0.xml │ ├── g1_custom_collision.urdf │ ├── g1_custom_collision_with_fixed_hand.urdf │ ├── g1_custom_collision_with_revolute_hand.urdf │ ├── g1_mocap.xml │ ├── g1_mocap_with_wrist_roll.xml │ ├── g1_origin_collision.urdf │ ├── g1_sim2sim.xml │ ├── g1_sim2sim_with_hands.xml │ ├── g1_sim2sim_with_wrist_roll.xml │ ├── images │ │ ├── g1_23dof.png │ │ ├── g1_29dof.png │ │ ├── g1_29dof_with_hand.png │ │ ├── g1_dual_arm.png │ │ ├── hfield.png │ │ └── rocky_texture.png │ ├── 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 │ └── scene.xml ├── twist_general_motion_tracker.pt └── unitree_g1 │ ├── LICENSE │ ├── README.md │ ├── assets │ ├── 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_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_yaw_link.STL │ ├── torso_link_rev_1_0.STL │ ├── waist_roll_link_rev_1_0.STL │ └── waist_yaw_link_rev_1_0.STL │ ├── g1.png │ ├── g1.xml │ ├── g1_with_hands.png │ ├── g1_with_hands.xml │ ├── scene.xml │ └── scene_with_hands.xml ├── deploy_real ├── data_utils │ ├── params.py │ └── rot_utils.py ├── robot_control │ ├── common │ │ ├── command_helper.py │ │ ├── remote_controller.py │ │ └── rotation_helper.py │ ├── config.py │ ├── configs │ │ └── g1.yaml │ └── g1_wrapper.py ├── server_high_level_motion_lib.py ├── server_low_level_g1_real.py ├── server_low_level_g1_sim.py └── server_motion_optitrack_v2 (legacy).py ├── legged_gym ├── .gitignore ├── LICENSE ├── legged_gym │ ├── .gitignore │ ├── __init__.py │ ├── envs │ │ ├── __init__.py │ │ ├── base │ │ │ ├── base_config.py │ │ │ ├── base_task.py │ │ │ ├── humanoid.py │ │ │ ├── humanoid_char.py │ │ │ ├── humanoid_char_config.py │ │ │ ├── humanoid_config.py │ │ │ ├── humanoid_mimic.py │ │ │ ├── humanoid_mimic_config.py │ │ │ ├── humanoid_view_motion.py │ │ │ ├── legged_robot.py │ │ │ └── legged_robot_config.py │ │ └── g1 │ │ │ ├── g1_mimic_distill.py │ │ │ └── g1_mimic_distill_config.py │ ├── gym_utils │ │ ├── __init__.py │ │ ├── helpers.py │ │ ├── logger.py │ │ ├── math.py │ │ ├── motor_delay_fft.py │ │ ├── se3_utils.py │ │ ├── storage.py │ │ ├── task_registry.py │ │ └── terrain.py │ └── scripts │ │ ├── play.py │ │ ├── save_jit_stu_bc.py │ │ ├── save_jit_stu_rlbc.py │ │ └── train.py ├── licenses │ ├── assets │ │ ├── ANYmal_b_license.txt │ │ ├── ANYmal_c_license.txt │ │ ├── a1_license.txt │ │ └── cassie_license.txt │ └── dependencies │ │ └── matplotlib_license.txt ├── motion_data_configs │ └── twist_dataset.yaml ├── requirements.txt └── setup.py ├── play_student.sh ├── play_teacher.sh ├── pose ├── .gitignore ├── pose │ ├── __init__.py │ ├── poselib │ │ ├── .gitignore │ │ ├── README.md │ │ └── poselib │ │ │ ├── __init__.py │ │ │ ├── core │ │ │ ├── __init__.py │ │ │ ├── backend │ │ │ │ ├── __init__.py │ │ │ │ ├── abstract.py │ │ │ │ └── logger.py │ │ │ ├── rotation3d.py │ │ │ ├── tensor_utils.py │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ └── test_rotation.py │ │ │ ├── skeleton │ │ │ ├── __init__.py │ │ │ ├── backend │ │ │ │ └── __init__.py │ │ │ └── skeleton3d.py │ │ │ └── visualization │ │ │ ├── __init__.py │ │ │ ├── common.py │ │ │ ├── core.py │ │ │ ├── plt_plotter.py │ │ │ ├── simple_plotter_tasks.py │ │ │ ├── skeleton_plotter_tasks.py │ │ │ └── tests │ │ │ ├── __init__.py │ │ │ └── test_plotter.py │ ├── util_funcs │ │ └── kinematics_model.py │ └── utils │ │ ├── __init__.py │ │ ├── fbx_sdk │ │ ├── FbxCommon.py │ │ ├── fbx.so │ │ └── fbxsip.so │ │ ├── gym_util.py │ │ ├── logger.py │ │ ├── motion_lib.py │ │ ├── motion_lib_pkl.py │ │ ├── smpl_names.py │ │ └── torch_utils.py └── setup.py ├── rsl_rl ├── .gitignore ├── LICENSE ├── README.md ├── licenses │ └── dependencies │ │ ├── numpy_license.txt │ │ └── torch_license.txt ├── rsl_rl │ ├── __init__.py │ ├── algorithms │ │ ├── __init__.py │ │ ├── dagger.py │ │ ├── dagger_ppo.py │ │ ├── ppo.py │ │ └── ppo_rma.py │ ├── env │ │ ├── __init__.py │ │ └── vec_env.py │ ├── modules │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── actor_critic_mimic.py │ │ ├── actor_critic_recurrent.py │ │ ├── actor_critic_rma.py │ │ └── dagger_actor.py │ ├── runners │ │ ├── __init__.py │ │ ├── on_policy_dagger_runner.py │ │ ├── on_policy_runner.py │ │ ├── on_policy_runner_mimic.py │ │ └── runner.py │ ├── storage │ │ ├── __init__.py │ │ ├── replay_buffer.py │ │ └── rollout_storage.py │ └── utils │ │ ├── __init__.py │ │ ├── init.py │ │ ├── layers.py │ │ ├── math.py │ │ ├── normalizer.py │ │ ├── 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