├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── mpx ├── __init__.py ├── config │ ├── __init__.py │ ├── config_aliengo.py │ ├── config_barrel_roll.py │ ├── config_go2.py │ ├── config_h1.py │ ├── config_srbd.py │ └── config_talos.py ├── data │ ├── __init__.py │ ├── aliengo │ │ ├── aliengo.urdf │ │ ├── aliengo.xml │ │ ├── assets │ │ │ ├── calf.stl │ │ │ ├── hip.stl │ │ │ ├── thigh.stl │ │ │ ├── thigh_mirror.stl │ │ │ └── trunk.stl │ │ ├── height_field.png │ │ ├── scene_flat.xml │ │ ├── scene_perlin.xml │ │ ├── scene_rough.xml │ │ └── scene_stairs.xml │ ├── go2 │ │ ├── assets │ │ │ ├── base_0.obj │ │ │ ├── base_1.obj │ │ │ ├── base_2.obj │ │ │ ├── base_3.obj │ │ │ ├── base_4.obj │ │ │ ├── calf_0.obj │ │ │ ├── calf_1.obj │ │ │ ├── calf_mirror_0.obj │ │ │ ├── calf_mirror_1.obj │ │ │ ├── foot.obj │ │ │ ├── hip_0.obj │ │ │ ├── hip_1.obj │ │ │ ├── second_base_0.obj │ │ │ ├── second_base_1.obj │ │ │ ├── second_base_2.obj │ │ │ ├── second_base_3.obj │ │ │ ├── second_base_4.obj │ │ │ ├── second_calf_0.obj │ │ │ ├── second_calf_1.obj │ │ │ ├── second_calf_mirror_0.obj │ │ │ ├── second_calf_mirror_1.obj │ │ │ ├── second_foot.obj │ │ │ ├── second_hip_0.obj │ │ │ ├── second_hip_1.obj │ │ │ ├── second_thigh_0.obj │ │ │ ├── second_thigh_1.obj │ │ │ ├── second_thigh_mirror_0.obj │ │ │ ├── second_thigh_mirror_1.obj │ │ │ ├── thigh_0.obj │ │ │ ├── thigh_1.obj │ │ │ ├── thigh_mirror_0.obj │ │ │ └── thigh_mirror_1.obj │ │ ├── go2_mjx.xml │ │ ├── go2_mjx_second.xml │ │ ├── scene_mjx.xml │ │ └── scene_mjx_two.xml │ ├── pal_talos │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ │ ├── arm │ │ │ │ ├── arm_1.stl │ │ │ │ ├── arm_1_collision.stl │ │ │ │ ├── arm_2.stl │ │ │ │ ├── arm_2_collision.stl │ │ │ │ ├── arm_3.stl │ │ │ │ ├── arm_3_collision.stl │ │ │ │ ├── arm_4.stl │ │ │ │ ├── arm_4_collision.stl │ │ │ │ ├── arm_5.stl │ │ │ │ ├── arm_5_collision.stl │ │ │ │ ├── arm_6.stl │ │ │ │ ├── arm_6_collision.stl │ │ │ │ ├── arm_7.stl │ │ │ │ └── arm_7_collision.stl │ │ │ ├── gripper │ │ │ │ ├── base_link.stl │ │ │ │ ├── base_link_collision.stl │ │ │ │ ├── fingertip.stl │ │ │ │ ├── fingertip_collision.stl │ │ │ │ ├── gripper_motor_double.stl │ │ │ │ ├── gripper_motor_double_collision.stl │ │ │ │ ├── gripper_motor_single.stl │ │ │ │ ├── gripper_motor_single_collision.stl │ │ │ │ ├── gripper_simple_collision.stl │ │ │ │ ├── inner_double.stl │ │ │ │ ├── inner_double_collision.stl │ │ │ │ ├── inner_single.stl │ │ │ │ └── inner_single_collision.stl │ │ │ ├── head │ │ │ │ ├── head_1.stl │ │ │ │ ├── head_1_collision.stl │ │ │ │ ├── head_2_default.stl │ │ │ │ └── head_2_default_collision.stl │ │ │ ├── sensors │ │ │ │ └── orbbec │ │ │ │ │ └── orbbec.stl │ │ │ ├── torso │ │ │ │ ├── base_link.stl │ │ │ │ ├── base_link_collision.stl │ │ │ │ ├── torso_1.stl │ │ │ │ ├── torso_2.stl │ │ │ │ └── torso_2_collision.stl │ │ │ └── v2 │ │ │ │ ├── ankle_X_collision.stl │ │ │ │ ├── ankle_X_lo_res.stl │ │ │ │ ├── ankle_Y_collision.stl │ │ │ │ ├── ankle_Y_lo_res.stl │ │ │ │ ├── hip_x_collision.stl │ │ │ │ ├── hip_x_lo_res.stl │ │ │ │ ├── hip_y_collision.stl │ │ │ │ ├── hip_y_lo_res.stl │ │ │ │ ├── hip_z_collision.stl │ │ │ │ ├── hip_z_lo_res.stl │ │ │ │ ├── knee_collision.stl │ │ │ │ └── knee_lo_res.stl │ │ ├── scene_motor.xml │ │ ├── scene_position.xml │ │ ├── talos.png │ │ ├── talos.xml │ │ ├── talos_full.xml │ │ ├── talos_motor.xml │ │ ├── talos_motor_rough.xml │ │ └── talos_position.xml │ ├── unitree_g1 │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ │ ├── head_link.STL │ │ │ ├── left_ankle_pitch_link.STL │ │ │ ├── left_ankle_roll_link.STL │ │ │ ├── left_elbow_pitch_link.STL │ │ │ ├── left_elbow_roll_link.STL │ │ │ ├── left_five_link.STL │ │ │ ├── left_four_link.STL │ │ │ ├── left_hip_pitch_link.STL │ │ │ ├── left_hip_roll_link.STL │ │ │ ├── left_hip_yaw_link.STL │ │ │ ├── left_knee_link.STL │ │ │ ├── left_one_link.STL │ │ │ ├── left_palm_link.STL │ │ │ ├── left_shoulder_pitch_link.STL │ │ │ ├── left_shoulder_roll_link.STL │ │ │ ├── left_shoulder_yaw_link.STL │ │ │ ├── left_six_link.STL │ │ │ ├── left_three_link.STL │ │ │ ├── left_two_link.STL │ │ │ ├── left_zero_link.STL │ │ │ ├── logo_link.STL │ │ │ ├── pelvis.STL │ │ │ ├── pelvis_contour_link.STL │ │ │ ├── right_ankle_pitch_link.STL │ │ │ ├── right_ankle_roll_link.STL │ │ │ ├── right_elbow_pitch_link.STL │ │ │ ├── right_elbow_roll_link.STL │ │ │ ├── right_five_link.STL │ │ │ ├── right_four_link.STL │ │ │ ├── right_hip_pitch_link.STL │ │ │ ├── right_hip_roll_link.STL │ │ │ ├── right_hip_yaw_link.STL │ │ │ ├── right_knee_link.STL │ │ │ ├── right_one_link.STL │ │ │ ├── right_palm_link.STL │ │ │ ├── right_shoulder_pitch_link.STL │ │ │ ├── right_shoulder_roll_link.STL │ │ │ ├── right_shoulder_yaw_link.STL │ │ │ ├── right_six_link.STL │ │ │ ├── right_three_link.STL │ │ │ ├── right_two_link.STL │ │ │ ├── right_zero_link.STL │ │ │ └── torso_link.STL │ │ ├── g1.png │ │ ├── g1.xml │ │ └── scene.xml │ └── unitree_h1 │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ ├── left_ankle_link.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_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 │ │ ├── h1.png │ │ ├── h1.xml │ │ ├── h1_loco.xml │ │ ├── h1_position_real_feet.xml │ │ ├── h1_real_feet.xml │ │ ├── mjx_h1_calf_hand_body.xml │ │ ├── mjx_h1_loco.xml │ │ ├── mjx_h1_walk.xml │ │ ├── mjx_h1_walk_real_feet.xml │ │ ├── mjx_scene_h1_loco.xml │ │ ├── mjx_scene_h1_push_crate.xml │ │ ├── mjx_scene_h1_walk.xml │ │ ├── mjx_scene_h1_walk_rough.xml │ │ ├── scene.xml │ │ ├── scene_h1_loco.xml │ │ ├── scene_position_real_feet.xml │ │ └── scene_real_feet.xml ├── examples │ ├── __init__.py │ ├── acrobat.py │ ├── barel_roll.py │ ├── mjx_h1.py │ ├── mjx_quad.py │ ├── mjx_talos.py │ ├── multi_env.py │ └── srbd_quad.py └── utils │ ├── __init__.py │ ├── console.py │ ├── models.py │ ├── mpc_utils.py │ ├── mpc_wrapper.py │ ├── mpc_wrapper_srbd.py │ ├── objectives.py │ └── rotation.py └── pyproject.toml /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iit-DLSLab/mpx/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/iit-DLSLab/mpx/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: 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