├── README.md ├── docs └── Real world deployment pipeline.png ├── real_deployment ├── hardware_whole_body_G1_23dof_asap_ref.py ├── hardware_whole_body_G1_locomotion.py └── lowcmd_publisher.py └── sim2sim ├── assets └── robots │ └── g1 │ ├── .asset_hash │ ├── g1_29dof.xml │ ├── g1_29dof_anneal_23dof.xml │ ├── g1_29dof_anneal_23dof_fitmotionONLY.xml │ ├── meshes │ ├── head_link.STL │ ├── left_ankle_pitch_link.STL │ ├── left_ankle_roll_link.STL │ ├── left_elbow_link.STL │ ├── left_elbow_link_merge.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_elbow_link_merge.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 │ ├── waist_constraint_L.STL │ ├── waist_constraint_R.STL │ ├── waist_roll_link.STL │ ├── waist_support_link.STL │ └── waist_yaw_link.STL │ └── scene_29dof.xml ├── ckpt_demo ├── policy_12.pt ├── policy_locomotion.pt └── policy_roundhouse_kick.pt ├── configs ├── g1_ref.yaml └── g1_ref_real.yaml ├── data └── motion_data │ └── g1_LAFAN_roundhouse_kick.pkl ├── deploy_mujoco_locomotion.py ├── deploy_mujoco_ref.py ├── deploy_mujoco_ref_real.py ├── isaac_utils ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ ├── maths.cpython-38.pyc │ └── rotations.cpython-38.pyc ├── maths.py └── rotations.py └── motion_lib ├── __init__.py ├── __pycache__ ├── __init__.cpython-38.pyc ├── motion_lib_base.cpython-38.pyc ├── motion_lib_robot.cpython-38.pyc ├── skeleton.cpython-38.pyc └── 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