├── .env ├── .github └── workflows │ ├── publish.yml │ ├── test.yml │ └── update_stompy_s3.yml ├── .gitignore ├── .gitmodules ├── CONTRIBUTING.md ├── LICENSE ├── Makefile ├── README.md ├── examples ├── getting_started_colab_sim.ipynb ├── gpr_standing.kinfer ├── gpr_walking.kinfer ├── new.kinfer ├── randomization.kinfer ├── walking_policy.pt ├── zbot_walking.kinfer └── zbot_walking_armature_friction.kinfer ├── pyproject.toml ├── setup.cfg ├── setup.py ├── sim ├── __init__.py ├── algo │ ├── __init__.py │ ├── ppo │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── on_policy_runner.py │ │ ├── ppo.py │ │ └── rollout_storage.py │ └── vec_env.py ├── env.py ├── envs │ ├── __init__.py │ ├── base │ │ ├── __init__.py │ │ ├── base_config.py │ │ ├── base_task.py │ │ ├── legged_robot.py │ │ ├── legged_robot_config.py │ │ └── legged_robot_latency.py │ └── humanoids │ │ ├── __init__.py │ │ ├── dora_config.py │ │ ├── dora_env.py │ │ ├── g1_config.py │ │ ├── g1_env.py │ │ ├── gpr_config.py │ │ ├── gpr_env.py │ │ ├── gpr_headless_config.py │ │ ├── gpr_headless_env.py │ │ ├── gpr_headless_latency_config.py │ │ ├── gpr_headless_latency_env.py │ │ ├── gpr_latency_config.py │ │ ├── gpr_latency_env.py │ │ ├── gpr_vel_config.py │ │ ├── gpr_vel_env.py │ │ ├── h1_config.py │ │ ├── h1_env.py │ │ ├── xbot_config.py │ │ ├── xbot_env.py │ │ ├── zbot2_config.py │ │ └── zbot2_env.py ├── h5_logger.py ├── model_export.py ├── mujoco_eval.py ├── play.py ├── produce_sim_data.py ├── py.typed ├── ref.py ├── requirements-dev.txt ├── requirements.txt ├── resources │ ├── dora │ │ ├── __init__.py │ │ ├── joints.py │ │ ├── mjcf │ │ │ ├── dora2.xml │ │ │ └── dora2_terrain.xml │ │ └── robot_fixed.urdf │ ├── g1 │ │ ├── __init__.py │ │ ├── joints.py │ │ └── robot_fixed.urdf │ ├── gpr │ │ ├── README.md │ │ ├── __init__.py │ │ ├── joints.py │ │ ├── meshes │ │ │ ├── arm1_top.stl │ │ │ ├── arm1_top_2.stl │ │ │ ├── arm2_shell.stl │ │ │ ├── arm2_shell_2.stl │ │ │ ├── arm3_shell.stl │ │ │ ├── arm3_shell2.stl │ │ │ ├── body1-part.stl │ │ │ ├── foot1.stl │ │ │ ├── foot3.stl │ │ │ ├── hand_shell.stl │ │ │ ├── hand_shell_2.stl │ │ │ ├── leg0_shell.stl │ │ │ ├── leg0_shell_2.stl │ │ │ ├── leg1_shell.stl │ │ │ ├── leg1_shell3.stl │ │ │ ├── leg2_shell.stl │ │ │ ├── leg2_shell_2.stl │ │ │ ├── shoulder.stl │ │ │ └── shoulder_2.stl │ │ ├── robot_fixed.urdf │ │ ├── robot_fixed.xml │ │ ├── robot_fixed_old.urdf │ │ └── robot_fixed_terrain.xml │ ├── gpr_headless │ │ ├── README.md │ │ ├── __init__.py │ │ ├── joints.py │ │ ├── old_real │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── joints.py │ │ │ ├── old │ │ │ │ ├── robot_fixed.urdf │ │ │ │ ├── robot_fixed.xml │ │ │ │ ├── robot_fixed_old.urdf │ │ │ │ └── robot_fixed_terrain.xml │ │ │ ├── robot_fixed.urdf │ │ │ ├── robot_fixed.xml │ │ │ ├── robot_fixed_new.urdf │ │ │ └── robot_fixed_terrain.xml │ │ ├── robot.mjcf │ │ ├── robot.urdf │ │ └── robot_fixed.urdf │ ├── gpr_vel │ │ ├── README.md │ │ ├── __init__.py │ │ ├── headless │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── joints.py │ │ │ └── robot_fixed.urdf │ │ ├── joints.py │ │ ├── robot_fixed.urdf │ │ ├── robot_fixed.xml │ │ └── robot_fixed_terrain.xml │ ├── h1_2 │ │ ├── __init__.py │ │ ├── h1.xml │ │ ├── joints.py │ │ ├── robot_fixed.urdf │ │ └── scene.xml │ ├── xbot │ │ ├── __init__.py │ │ ├── joints.py │ │ ├── robot_fixed.urdf │ │ └── robot_fixed.xml │ ├── zbot2 │ │ ├── joints.py │ │ ├── meshes │ │ │ ├── 3215_1Flange.stl │ │ │ ├── 3215_1Flange_2.stl │ │ │ ├── 3215_BothFlange.stl │ │ │ ├── 3215_BothFlange_2.stl │ │ │ ├── 3215_BothFlange_3.stl │ │ │ ├── 3215_BothFlange_4.stl │ │ │ ├── 3215_BothFlange_5.stl │ │ │ ├── 3215_BothFlange_6.stl │ │ │ ├── FINGER_1.stl │ │ │ ├── FINGER_1_2.stl │ │ │ ├── FOOT.stl │ │ │ ├── FOOT_2.stl │ │ │ ├── L-ARM-MIRROR_1.stl │ │ │ ├── R-ARM-MIRROR-1.stl │ │ │ ├── U-HIP-L.stl │ │ │ ├── U-HIP-R.stl │ │ │ ├── Z-BOT2-MASTER-SHOULDER2.stl │ │ │ ├── Z-BOT2-MASTER-SHOULDER2_2.stl │ │ │ └── Z-BOT2_MASTER-BODY-SKELETON.stl │ │ ├── robot.urdf │ │ ├── robot_fixed.urdf │ │ └── robot_fixed.xml │ └── zeroth │ │ ├── __init__.py │ │ ├── joints.py │ │ ├── meshes │ │ ├── Part_76.stl │ │ ├── Robot_-_STS3250_v1.stl │ │ ├── Robot_-_STS3250_v1_2.stl │ │ ├── Rotor.stl │ │ ├── Rotor_2.stl │ │ ├── foot_bracket_for_5dof_leg_v9.stl │ │ ├── foot_bracket_for_5dof_leg_v9_2.stl │ │ ├── leg_top_bracket_v8_1.stl │ │ ├── leg_top_bracket_v8_1_2.stl │ │ ├── leg_top_bracket_v9.stl │ │ └── leg_top_bracket_v9_2.stl │ │ ├── robot.urdf │ │ └── robot_fixed.urdf ├── scripts │ ├── __init__.py │ ├── calibration_isaac.py │ ├── calibration_mujoco.py │ ├── create_fixed_torso.py │ ├── imu_data_comparison.py │ ├── install_isaac_dependencies.sh │ ├── print_joints.py │ ├── push_standing_tests.py │ ├── run_headless.sh │ ├── simulate_mjcf.py │ └── simulate_urdf.py ├── sim2sim.py ├── train.py └── utils │ ├── __init__.py │ ├── calculate_gait.py │ ├── helpers.py │ ├── logger.py │ ├── math.py │ ├── resources.py │ ├── task_registry.py │ └── terrain.py └── third_party └── expressive_humanoid ├── .gitignore ├── Dockerfile ├── LICENSE ├── download_assets.sh ├── fbx_importer_all_2.py ├── install_fbx.sh ├── install_fbx_bindings.sh ├── parse_cmu_mocap_all_2.py └── test_fbx.py /.env: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /.github/workflows/publish.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/.github/workflows/publish.yml -------------------------------------------------------------------------------- /.github/workflows/test.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/.github/workflows/test.yml -------------------------------------------------------------------------------- /.github/workflows/update_stompy_s3.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/.github/workflows/update_stompy_s3.yml -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/.gitmodules -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/CONTRIBUTING.md -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/LICENSE -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/Makefile -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/README.md -------------------------------------------------------------------------------- /examples/getting_started_colab_sim.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/examples/getting_started_colab_sim.ipynb -------------------------------------------------------------------------------- /examples/gpr_standing.kinfer: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/examples/gpr_standing.kinfer -------------------------------------------------------------------------------- /examples/gpr_walking.kinfer: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/examples/gpr_walking.kinfer -------------------------------------------------------------------------------- /examples/new.kinfer: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/examples/new.kinfer -------------------------------------------------------------------------------- /examples/randomization.kinfer: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/examples/randomization.kinfer -------------------------------------------------------------------------------- /examples/walking_policy.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/examples/walking_policy.pt -------------------------------------------------------------------------------- /examples/zbot_walking.kinfer: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/examples/zbot_walking.kinfer -------------------------------------------------------------------------------- /examples/zbot_walking_armature_friction.kinfer: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/examples/zbot_walking_armature_friction.kinfer -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/pyproject.toml -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/setup.cfg -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/setup.py -------------------------------------------------------------------------------- /sim/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/__init__.py -------------------------------------------------------------------------------- /sim/algo/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/algo/__init__.py -------------------------------------------------------------------------------- /sim/algo/ppo/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/algo/ppo/__init__.py -------------------------------------------------------------------------------- /sim/algo/ppo/actor_critic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/algo/ppo/actor_critic.py -------------------------------------------------------------------------------- /sim/algo/ppo/on_policy_runner.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/algo/ppo/on_policy_runner.py -------------------------------------------------------------------------------- /sim/algo/ppo/ppo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/algo/ppo/ppo.py -------------------------------------------------------------------------------- /sim/algo/ppo/rollout_storage.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/algo/ppo/rollout_storage.py -------------------------------------------------------------------------------- /sim/algo/vec_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/algo/vec_env.py -------------------------------------------------------------------------------- /sim/env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/env.py -------------------------------------------------------------------------------- /sim/envs/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/__init__.py -------------------------------------------------------------------------------- /sim/envs/base/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/envs/base/base_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/base/base_config.py -------------------------------------------------------------------------------- /sim/envs/base/base_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/base/base_task.py -------------------------------------------------------------------------------- /sim/envs/base/legged_robot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/base/legged_robot.py -------------------------------------------------------------------------------- /sim/envs/base/legged_robot_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/base/legged_robot_config.py -------------------------------------------------------------------------------- /sim/envs/base/legged_robot_latency.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/base/legged_robot_latency.py -------------------------------------------------------------------------------- /sim/envs/humanoids/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/envs/humanoids/dora_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/dora_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/dora_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/dora_env.py -------------------------------------------------------------------------------- /sim/envs/humanoids/g1_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/g1_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/g1_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/g1_env.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_env.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_headless_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_headless_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_headless_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_headless_env.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_headless_latency_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_headless_latency_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_headless_latency_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_headless_latency_env.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_latency_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_latency_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_latency_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_latency_env.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_vel_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_vel_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/gpr_vel_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/gpr_vel_env.py -------------------------------------------------------------------------------- /sim/envs/humanoids/h1_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/h1_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/h1_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/h1_env.py -------------------------------------------------------------------------------- /sim/envs/humanoids/xbot_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/xbot_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/xbot_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/xbot_env.py -------------------------------------------------------------------------------- /sim/envs/humanoids/zbot2_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/zbot2_config.py -------------------------------------------------------------------------------- /sim/envs/humanoids/zbot2_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/envs/humanoids/zbot2_env.py -------------------------------------------------------------------------------- /sim/h5_logger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/h5_logger.py -------------------------------------------------------------------------------- /sim/model_export.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/model_export.py -------------------------------------------------------------------------------- /sim/mujoco_eval.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/mujoco_eval.py -------------------------------------------------------------------------------- /sim/play.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/play.py -------------------------------------------------------------------------------- /sim/produce_sim_data.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/produce_sim_data.py -------------------------------------------------------------------------------- /sim/py.typed: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/ref.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/ref.py -------------------------------------------------------------------------------- /sim/requirements-dev.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/requirements-dev.txt -------------------------------------------------------------------------------- /sim/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/requirements.txt -------------------------------------------------------------------------------- /sim/resources/dora/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/dora/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/dora/joints.py -------------------------------------------------------------------------------- /sim/resources/dora/mjcf/dora2.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/dora/mjcf/dora2.xml -------------------------------------------------------------------------------- /sim/resources/dora/mjcf/dora2_terrain.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/dora/mjcf/dora2_terrain.xml -------------------------------------------------------------------------------- /sim/resources/dora/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/dora/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/g1/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/g1/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/g1/joints.py -------------------------------------------------------------------------------- /sim/resources/g1/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/g1/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/gpr/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/README.md -------------------------------------------------------------------------------- /sim/resources/gpr/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/gpr/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/joints.py -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/arm1_top.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/arm1_top.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/arm1_top_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/arm1_top_2.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/arm2_shell.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/arm2_shell.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/arm2_shell_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/arm2_shell_2.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/arm3_shell.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/arm3_shell.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/arm3_shell2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/arm3_shell2.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/body1-part.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/body1-part.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/foot1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/foot1.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/foot3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/foot3.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/hand_shell.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/hand_shell.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/hand_shell_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/hand_shell_2.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/leg0_shell.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/leg0_shell.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/leg0_shell_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/leg0_shell_2.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/leg1_shell.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/leg1_shell.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/leg1_shell3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/leg1_shell3.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/leg2_shell.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/leg2_shell.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/leg2_shell_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/leg2_shell_2.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/shoulder.stl -------------------------------------------------------------------------------- /sim/resources/gpr/meshes/shoulder_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/meshes/shoulder_2.stl -------------------------------------------------------------------------------- /sim/resources/gpr/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/gpr/robot_fixed.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/robot_fixed.xml -------------------------------------------------------------------------------- /sim/resources/gpr/robot_fixed_old.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/robot_fixed_old.urdf -------------------------------------------------------------------------------- /sim/resources/gpr/robot_fixed_terrain.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr/robot_fixed_terrain.xml -------------------------------------------------------------------------------- /sim/resources/gpr_headless/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/README.md -------------------------------------------------------------------------------- /sim/resources/gpr_headless/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/gpr_headless/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/joints.py -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/README.md -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/joints.py -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/old/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/old/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/old/robot_fixed.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/old/robot_fixed.xml -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/old/robot_fixed_old.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/old/robot_fixed_old.urdf -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/old/robot_fixed_terrain.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/old/robot_fixed_terrain.xml -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/robot_fixed.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/robot_fixed.xml -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/robot_fixed_new.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/robot_fixed_new.urdf -------------------------------------------------------------------------------- /sim/resources/gpr_headless/old_real/robot_fixed_terrain.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/old_real/robot_fixed_terrain.xml -------------------------------------------------------------------------------- /sim/resources/gpr_headless/robot.mjcf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/robot.mjcf -------------------------------------------------------------------------------- /sim/resources/gpr_headless/robot.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/robot.urdf -------------------------------------------------------------------------------- /sim/resources/gpr_headless/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_headless/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/gpr_vel/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_vel/README.md -------------------------------------------------------------------------------- /sim/resources/gpr_vel/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/gpr_vel/headless/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_vel/headless/README.md -------------------------------------------------------------------------------- /sim/resources/gpr_vel/headless/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/gpr_vel/headless/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_vel/headless/joints.py -------------------------------------------------------------------------------- /sim/resources/gpr_vel/headless/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_vel/headless/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/gpr_vel/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_vel/joints.py -------------------------------------------------------------------------------- /sim/resources/gpr_vel/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_vel/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/gpr_vel/robot_fixed.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_vel/robot_fixed.xml -------------------------------------------------------------------------------- /sim/resources/gpr_vel/robot_fixed_terrain.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/gpr_vel/robot_fixed_terrain.xml -------------------------------------------------------------------------------- /sim/resources/h1_2/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/h1_2/h1.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/h1_2/h1.xml -------------------------------------------------------------------------------- /sim/resources/h1_2/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/h1_2/joints.py -------------------------------------------------------------------------------- /sim/resources/h1_2/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/h1_2/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/h1_2/scene.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/h1_2/scene.xml -------------------------------------------------------------------------------- /sim/resources/xbot/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/xbot/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/xbot/joints.py -------------------------------------------------------------------------------- /sim/resources/xbot/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/xbot/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/xbot/robot_fixed.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/xbot/robot_fixed.xml -------------------------------------------------------------------------------- /sim/resources/zbot2/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/joints.py -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/3215_1Flange.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/3215_1Flange.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/3215_1Flange_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/3215_1Flange_2.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/3215_BothFlange.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/3215_BothFlange.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/3215_BothFlange_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/3215_BothFlange_2.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/3215_BothFlange_3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/3215_BothFlange_3.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/3215_BothFlange_4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/3215_BothFlange_4.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/3215_BothFlange_5.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/3215_BothFlange_5.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/3215_BothFlange_6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/3215_BothFlange_6.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/FINGER_1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/FINGER_1.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/FINGER_1_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/FINGER_1_2.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/FOOT.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/FOOT.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/FOOT_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/FOOT_2.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/L-ARM-MIRROR_1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/L-ARM-MIRROR_1.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/R-ARM-MIRROR-1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/R-ARM-MIRROR-1.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/U-HIP-L.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/U-HIP-L.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/U-HIP-R.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/U-HIP-R.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/Z-BOT2-MASTER-SHOULDER2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/Z-BOT2-MASTER-SHOULDER2.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/Z-BOT2-MASTER-SHOULDER2_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/Z-BOT2-MASTER-SHOULDER2_2.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/meshes/Z-BOT2_MASTER-BODY-SKELETON.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/meshes/Z-BOT2_MASTER-BODY-SKELETON.stl -------------------------------------------------------------------------------- /sim/resources/zbot2/robot.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/robot.urdf -------------------------------------------------------------------------------- /sim/resources/zbot2/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/resources/zbot2/robot_fixed.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zbot2/robot_fixed.xml -------------------------------------------------------------------------------- /sim/resources/zeroth/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/resources/zeroth/joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/joints.py -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/Part_76.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/Part_76.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/Robot_-_STS3250_v1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/Robot_-_STS3250_v1.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/Robot_-_STS3250_v1_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/Robot_-_STS3250_v1_2.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/Rotor.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/Rotor.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/Rotor_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/Rotor_2.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9_2.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/leg_top_bracket_v8_1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/leg_top_bracket_v8_1.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/leg_top_bracket_v8_1_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/leg_top_bracket_v8_1_2.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/leg_top_bracket_v9.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/leg_top_bracket_v9.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/meshes/leg_top_bracket_v9_2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/meshes/leg_top_bracket_v9_2.stl -------------------------------------------------------------------------------- /sim/resources/zeroth/robot.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/robot.urdf -------------------------------------------------------------------------------- /sim/resources/zeroth/robot_fixed.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/resources/zeroth/robot_fixed.urdf -------------------------------------------------------------------------------- /sim/scripts/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/scripts/calibration_isaac.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/calibration_isaac.py -------------------------------------------------------------------------------- /sim/scripts/calibration_mujoco.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/calibration_mujoco.py -------------------------------------------------------------------------------- /sim/scripts/create_fixed_torso.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/create_fixed_torso.py -------------------------------------------------------------------------------- /sim/scripts/imu_data_comparison.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/imu_data_comparison.py -------------------------------------------------------------------------------- /sim/scripts/install_isaac_dependencies.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/install_isaac_dependencies.sh -------------------------------------------------------------------------------- /sim/scripts/print_joints.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/print_joints.py -------------------------------------------------------------------------------- /sim/scripts/push_standing_tests.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/push_standing_tests.py -------------------------------------------------------------------------------- /sim/scripts/run_headless.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/run_headless.sh -------------------------------------------------------------------------------- /sim/scripts/simulate_mjcf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/simulate_mjcf.py -------------------------------------------------------------------------------- /sim/scripts/simulate_urdf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/scripts/simulate_urdf.py -------------------------------------------------------------------------------- /sim/sim2sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/sim2sim.py -------------------------------------------------------------------------------- /sim/train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/train.py -------------------------------------------------------------------------------- /sim/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /sim/utils/calculate_gait.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/utils/calculate_gait.py -------------------------------------------------------------------------------- /sim/utils/helpers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/utils/helpers.py -------------------------------------------------------------------------------- /sim/utils/logger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/utils/logger.py -------------------------------------------------------------------------------- /sim/utils/math.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/utils/math.py -------------------------------------------------------------------------------- /sim/utils/resources.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/utils/resources.py -------------------------------------------------------------------------------- /sim/utils/task_registry.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/utils/task_registry.py -------------------------------------------------------------------------------- /sim/utils/terrain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/sim/utils/terrain.py -------------------------------------------------------------------------------- /third_party/expressive_humanoid/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/third_party/expressive_humanoid/.gitignore -------------------------------------------------------------------------------- /third_party/expressive_humanoid/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/third_party/expressive_humanoid/Dockerfile -------------------------------------------------------------------------------- /third_party/expressive_humanoid/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/third_party/expressive_humanoid/LICENSE -------------------------------------------------------------------------------- /third_party/expressive_humanoid/download_assets.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/third_party/expressive_humanoid/download_assets.sh -------------------------------------------------------------------------------- /third_party/expressive_humanoid/fbx_importer_all_2.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/third_party/expressive_humanoid/fbx_importer_all_2.py -------------------------------------------------------------------------------- /third_party/expressive_humanoid/install_fbx.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/third_party/expressive_humanoid/install_fbx.sh -------------------------------------------------------------------------------- /third_party/expressive_humanoid/install_fbx_bindings.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/third_party/expressive_humanoid/install_fbx_bindings.sh -------------------------------------------------------------------------------- /third_party/expressive_humanoid/parse_cmu_mocap_all_2.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/third_party/expressive_humanoid/parse_cmu_mocap_all_2.py -------------------------------------------------------------------------------- /third_party/expressive_humanoid/test_fbx.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kscalelabs/sim/HEAD/third_party/expressive_humanoid/test_fbx.py --------------------------------------------------------------------------------