├── .gitignore ├── FSM ├── FSM.py ├── FSMState.py └── __init__.py ├── README.md ├── README_zh.md ├── common ├── __init__.py ├── command_helper.py ├── ctrlcomp.py ├── joystick.py ├── path_config.py ├── remote_controller.py ├── rotation_helper.py └── utils.py ├── deploy_mujoco ├── __init__.py ├── config │ └── mujoco.yaml └── deploy_mujoco.py ├── deploy_real ├── config.py ├── config │ └── real.yaml └── deploy_real.py ├── g1_description ├── g1_29dof_rev_1_0.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 └── scene.xml └── policy ├── __init__.py ├── beyond_mimic ├── BeyondMimic.py ├── config │ └── BeyondMimic.yaml └── model │ └── policy_fightAndSports1_s1.onnx ├── dance ├── Dance.py ├── config │ └── Dance.yaml └── model │ └── dance_0605.onnx ├── fixedpose ├── FixedPose.py └── config │ └── FixedPose.yaml ├── kick ├── Kick.py ├── config │ └── Kick.yaml └── model │ └── kick_0607.onnx ├── kungfu ├── KungFu.py ├── config │ └── KungFu.yaml └── model │ └── kungfu_0609.onnx ├── kungfu2 ├── KungFu2.py ├── config │ └── KungFu2.yaml └── model │ └── kungfu2_0609.onnx ├── loco_mode ├── LocoMode.py ├── config │ └── LocoMode.yaml └── model │ └── policy_29dof.pt ├── passive ├── PassiveMode.py └── config │ └── Passive.yaml ├── skill_cast ├── SkillCast.py ├── config │ └── SkillCast.yaml └── model │ └── policy_stand_15dof.pt └── skill_cooldown ├── SkillCooldown.py ├── config └── SkillCooldown.yaml └── model └── policy_15dof.pt /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/.gitignore -------------------------------------------------------------------------------- /FSM/FSM.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/FSM/FSM.py -------------------------------------------------------------------------------- /FSM/FSMState.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/FSM/FSMState.py -------------------------------------------------------------------------------- /FSM/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/README.md -------------------------------------------------------------------------------- /README_zh.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/README_zh.md -------------------------------------------------------------------------------- /common/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /common/command_helper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/common/command_helper.py -------------------------------------------------------------------------------- /common/ctrlcomp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/common/ctrlcomp.py -------------------------------------------------------------------------------- /common/joystick.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/common/joystick.py -------------------------------------------------------------------------------- /common/path_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/common/path_config.py -------------------------------------------------------------------------------- /common/remote_controller.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/common/remote_controller.py -------------------------------------------------------------------------------- /common/rotation_helper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/common/rotation_helper.py -------------------------------------------------------------------------------- /common/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/common/utils.py -------------------------------------------------------------------------------- /deploy_mujoco/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /deploy_mujoco/config/mujoco.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/deploy_mujoco/config/mujoco.yaml -------------------------------------------------------------------------------- /deploy_mujoco/deploy_mujoco.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/deploy_mujoco/deploy_mujoco.py -------------------------------------------------------------------------------- /deploy_real/config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/deploy_real/config.py -------------------------------------------------------------------------------- /deploy_real/config/real.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/deploy_real/config/real.yaml -------------------------------------------------------------------------------- /deploy_real/deploy_real.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/deploy_real/deploy_real.py -------------------------------------------------------------------------------- /g1_description/g1_29dof_rev_1_0.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/g1_29dof_rev_1_0.xml -------------------------------------------------------------------------------- /g1_description/meshes/head_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/head_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_ankle_pitch_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_ankle_pitch_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_ankle_roll_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_ankle_roll_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_elbow_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_elbow_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hand_index_0_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hand_index_0_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hand_index_1_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hand_index_1_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hand_middle_0_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hand_middle_0_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hand_middle_1_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hand_middle_1_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hand_palm_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hand_palm_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hand_thumb_0_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hand_thumb_0_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hand_thumb_1_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hand_thumb_1_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hand_thumb_2_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hand_thumb_2_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hip_pitch_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hip_pitch_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hip_roll_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hip_roll_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_hip_yaw_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_hip_yaw_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_knee_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_knee_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_rubber_hand.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_rubber_hand.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_shoulder_pitch_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_shoulder_pitch_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_shoulder_roll_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_shoulder_roll_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_shoulder_yaw_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_shoulder_yaw_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_wrist_pitch_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_wrist_pitch_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_wrist_roll_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_wrist_roll_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_wrist_roll_rubber_hand.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_wrist_roll_rubber_hand.STL -------------------------------------------------------------------------------- /g1_description/meshes/left_wrist_yaw_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/left_wrist_yaw_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/logo_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/logo_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/pelvis.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/pelvis.STL -------------------------------------------------------------------------------- /g1_description/meshes/pelvis_contour_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/pelvis_contour_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_ankle_pitch_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_ankle_pitch_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_ankle_roll_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_ankle_roll_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_elbow_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_elbow_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hand_index_0_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hand_index_0_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hand_index_1_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hand_index_1_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hand_middle_0_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hand_middle_0_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hand_middle_1_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hand_middle_1_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hand_palm_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hand_palm_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hand_thumb_0_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hand_thumb_0_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hand_thumb_1_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hand_thumb_1_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hand_thumb_2_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hand_thumb_2_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hip_pitch_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hip_pitch_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hip_roll_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hip_roll_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_hip_yaw_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_hip_yaw_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_knee_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_knee_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_rubber_hand.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_rubber_hand.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_shoulder_pitch_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_shoulder_pitch_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_shoulder_roll_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_shoulder_roll_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_shoulder_yaw_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_shoulder_yaw_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_wrist_pitch_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_wrist_pitch_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_wrist_roll_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_wrist_roll_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_wrist_roll_rubber_hand.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_wrist_roll_rubber_hand.STL -------------------------------------------------------------------------------- /g1_description/meshes/right_wrist_yaw_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/right_wrist_yaw_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/torso_constraint_L_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/torso_constraint_L_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/torso_constraint_L_rod_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/torso_constraint_L_rod_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/torso_constraint_R_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/torso_constraint_R_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/torso_constraint_R_rod_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/torso_constraint_R_rod_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/torso_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/torso_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/torso_link_23dof_rev_1_0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/torso_link_23dof_rev_1_0.STL -------------------------------------------------------------------------------- /g1_description/meshes/torso_link_rev_1_0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/torso_link_rev_1_0.STL -------------------------------------------------------------------------------- /g1_description/meshes/waist_constraint_L.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/waist_constraint_L.STL -------------------------------------------------------------------------------- /g1_description/meshes/waist_constraint_R.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/waist_constraint_R.STL -------------------------------------------------------------------------------- /g1_description/meshes/waist_roll_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/waist_roll_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/waist_roll_link_rev_1_0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/waist_roll_link_rev_1_0.STL -------------------------------------------------------------------------------- /g1_description/meshes/waist_support_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/waist_support_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/waist_yaw_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/waist_yaw_link.STL -------------------------------------------------------------------------------- /g1_description/meshes/waist_yaw_link_rev_1_0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/meshes/waist_yaw_link_rev_1_0.STL -------------------------------------------------------------------------------- /g1_description/scene.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/g1_description/scene.xml -------------------------------------------------------------------------------- /policy/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /policy/beyond_mimic/BeyondMimic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/beyond_mimic/BeyondMimic.py -------------------------------------------------------------------------------- /policy/beyond_mimic/config/BeyondMimic.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/beyond_mimic/config/BeyondMimic.yaml -------------------------------------------------------------------------------- /policy/beyond_mimic/model/policy_fightAndSports1_s1.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/beyond_mimic/model/policy_fightAndSports1_s1.onnx -------------------------------------------------------------------------------- /policy/dance/Dance.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/dance/Dance.py -------------------------------------------------------------------------------- /policy/dance/config/Dance.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/dance/config/Dance.yaml -------------------------------------------------------------------------------- /policy/dance/model/dance_0605.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/dance/model/dance_0605.onnx -------------------------------------------------------------------------------- /policy/fixedpose/FixedPose.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/fixedpose/FixedPose.py -------------------------------------------------------------------------------- /policy/fixedpose/config/FixedPose.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/fixedpose/config/FixedPose.yaml -------------------------------------------------------------------------------- /policy/kick/Kick.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/kick/Kick.py -------------------------------------------------------------------------------- /policy/kick/config/Kick.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/kick/config/Kick.yaml -------------------------------------------------------------------------------- /policy/kick/model/kick_0607.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/kick/model/kick_0607.onnx -------------------------------------------------------------------------------- /policy/kungfu/KungFu.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/kungfu/KungFu.py -------------------------------------------------------------------------------- /policy/kungfu/config/KungFu.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/kungfu/config/KungFu.yaml -------------------------------------------------------------------------------- /policy/kungfu/model/kungfu_0609.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/kungfu/model/kungfu_0609.onnx -------------------------------------------------------------------------------- /policy/kungfu2/KungFu2.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/kungfu2/KungFu2.py -------------------------------------------------------------------------------- /policy/kungfu2/config/KungFu2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/kungfu2/config/KungFu2.yaml -------------------------------------------------------------------------------- /policy/kungfu2/model/kungfu2_0609.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/kungfu2/model/kungfu2_0609.onnx -------------------------------------------------------------------------------- /policy/loco_mode/LocoMode.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/loco_mode/LocoMode.py -------------------------------------------------------------------------------- /policy/loco_mode/config/LocoMode.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/loco_mode/config/LocoMode.yaml -------------------------------------------------------------------------------- /policy/loco_mode/model/policy_29dof.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/loco_mode/model/policy_29dof.pt -------------------------------------------------------------------------------- /policy/passive/PassiveMode.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/passive/PassiveMode.py -------------------------------------------------------------------------------- /policy/passive/config/Passive.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/passive/config/Passive.yaml -------------------------------------------------------------------------------- /policy/skill_cast/SkillCast.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/skill_cast/SkillCast.py -------------------------------------------------------------------------------- /policy/skill_cast/config/SkillCast.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/skill_cast/config/SkillCast.yaml -------------------------------------------------------------------------------- /policy/skill_cast/model/policy_stand_15dof.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/skill_cast/model/policy_stand_15dof.pt -------------------------------------------------------------------------------- /policy/skill_cooldown/SkillCooldown.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/skill_cooldown/SkillCooldown.py -------------------------------------------------------------------------------- /policy/skill_cooldown/config/SkillCooldown.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/skill_cooldown/config/SkillCooldown.yaml -------------------------------------------------------------------------------- /policy/skill_cooldown/model/policy_15dof.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ccrpRepo/RoboMimic_Deploy/HEAD/policy/skill_cooldown/model/policy_15dof.pt --------------------------------------------------------------------------------