├── .gitattributes ├── .gitignore ├── Cheatsheet ├── cheatsheet.pdf ├── cheatsheet.tex ├── compile.sh ├── source │ ├── Cheatsheet-01-Robotics.md │ ├── Cheatsheet-02-Grasp.md │ └── Cheatsheet-03-Policy.md └── template │ ├── after_body.tex │ ├── before_body.tex │ └── preamble.tex ├── Homeworks ├── 01-Robot-Kinematics │ ├── Handin │ │ ├── robot_model.py │ │ └── rotation.py │ └── Handout │ │ ├── Assignment1.pdf │ │ └── Assignment1.zip ├── 02-Pose-Estimation │ ├── Handin │ │ ├── INSTALL.md │ │ ├── README.md │ │ ├── README.pdf │ │ ├── config │ │ │ └── test.yaml │ │ ├── eval.py │ │ ├── exps │ │ │ ├── est_coord_final │ │ │ │ ├── checkpoint │ │ │ │ │ └── exp_coord.pth │ │ │ │ ├── code │ │ │ │ │ ├── config.py │ │ │ │ │ ├── constants.py │ │ │ │ │ ├── data.py │ │ │ │ │ ├── git.py │ │ │ │ │ ├── logger.py │ │ │ │ │ ├── model │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── est_coord.py │ │ │ │ │ │ └── est_pose.py │ │ │ │ │ ├── path.py │ │ │ │ │ ├── robot │ │ │ │ │ │ ├── cfg.py │ │ │ │ │ │ └── robot_model.py │ │ │ │ │ ├── sim │ │ │ │ │ │ ├── cfg.py │ │ │ │ │ │ ├── constants.py │ │ │ │ │ │ ├── grasp_env.py │ │ │ │ │ │ └── mujoco.py │ │ │ │ │ ├── type.py │ │ │ │ │ ├── utils.py │ │ │ │ │ └── vis.py │ │ │ │ └── config.yaml │ │ │ └── est_pose_final │ │ │ │ ├── checkpoint │ │ │ │ └── exp_pose.pth │ │ │ │ ├── code │ │ │ │ ├── config.py │ │ │ │ ├── constants.py │ │ │ │ ├── data.py │ │ │ │ ├── git.py │ │ │ │ ├── logger.py │ │ │ │ ├── model │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── est_coord.py │ │ │ │ │ └── est_pose.py │ │ │ │ ├── path.py │ │ │ │ ├── robot │ │ │ │ │ ├── cfg.py │ │ │ │ │ └── robot_model.py │ │ │ │ ├── sim │ │ │ │ │ ├── cfg.py │ │ │ │ │ ├── constants.py │ │ │ │ │ ├── grasp_env.py │ │ │ │ │ └── mujoco.py │ │ │ │ ├── type.py │ │ │ │ ├── utils.py │ │ │ │ └── vis.py │ │ │ │ └── config.yaml │ │ ├── img │ │ │ └── pointnet.png │ │ ├── mujoco_test.py │ │ ├── src │ │ │ ├── config.py │ │ │ ├── constants.py │ │ │ ├── data.py │ │ │ ├── git.py │ │ │ ├── logger.py │ │ │ ├── model │ │ │ │ ├── __init__.py │ │ │ │ ├── est_coord.py │ │ │ │ └── est_pose.py │ │ │ ├── path.py │ │ │ ├── robot │ │ │ │ ├── cfg.py │ │ │ │ └── robot_model.py │ │ │ ├── sim │ │ │ │ ├── cfg.py │ │ │ │ ├── constants.py │ │ │ │ ├── grasp_env.py │ │ │ │ └── mujoco.py │ │ │ ├── type.py │ │ │ ├── utils.py │ │ │ └── vis.py │ │ ├── test.py │ │ ├── test.sh │ │ ├── train.py │ │ └── train.sh │ └── Handout │ │ ├── Assignment2.pdf │ │ └── Assignment2.zip ├── 03-RL-Robot-Control │ ├── Handin │ │ ├── DEBUG.md │ │ ├── README.md │ │ ├── README.pdf │ │ ├── experiments │ │ │ └── solutions │ │ │ │ ├── part2_video.mp4 │ │ │ │ └── part3_video.mp4 │ │ ├── hw_py │ │ │ ├── part1_ppo.py │ │ │ ├── part2.sh │ │ │ ├── part2_getup.py │ │ │ ├── part2_height_error.png │ │ │ ├── part3.sh │ │ │ ├── part3_LinVel_error.png │ │ │ └── part3_walk.py │ │ ├── requirements.txt │ │ └── src │ │ │ └── check_ppo.py │ └── Handout │ │ ├── Assignment3.pdf │ │ └── Assignment3.zip └── 04-Robot-Manipulation-and-Control │ ├── Handin │ ├── Assignment4.pdf │ ├── DATASET.md │ ├── README.md │ ├── asset │ │ ├── obj │ │ │ └── power_drill │ │ │ │ ├── convert.py │ │ │ │ ├── decompose │ │ │ │ ├── decomposed_0.obj │ │ │ │ ├── decomposed_1.obj │ │ │ │ ├── decomposed_10.obj │ │ │ │ ├── decomposed_11.obj │ │ │ │ ├── decomposed_12.obj │ │ │ │ ├── decomposed_13.obj │ │ │ │ ├── decomposed_14.obj │ │ │ │ ├── decomposed_2.obj │ │ │ │ ├── decomposed_3.obj │ │ │ │ ├── decomposed_4.obj │ │ │ │ ├── decomposed_5.obj │ │ │ │ ├── decomposed_6.obj │ │ │ │ ├── decomposed_7.obj │ │ │ │ ├── decomposed_8.obj │ │ │ │ └── decomposed_9.obj │ │ │ │ ├── drill.step │ │ │ │ ├── drill.stl │ │ │ │ ├── material.mtl │ │ │ │ ├── material_0.png │ │ │ │ ├── obj.zip │ │ │ │ ├── simplified │ │ │ │ ├── part0.obj │ │ │ │ ├── part1.obj │ │ │ │ ├── part2.obj │ │ │ │ └── part3.obj │ │ │ │ └── single.obj │ │ └── robot │ │ │ ├── galbot │ │ │ ├── galbot_head.urdf │ │ │ ├── galbot_left_arm_gripper.urdf │ │ │ ├── galbot_left_arm_gripper.xml │ │ │ ├── galbot_left_arm_v4.usd │ │ │ ├── galbot_one_charlie_full.xml │ │ │ ├── galbot_robotiq.yml │ │ │ └── meshes │ │ │ │ ├── arm │ │ │ │ ├── collision │ │ │ │ │ ├── left_arm_base_link.stl │ │ │ │ │ ├── left_arm_link1.stl │ │ │ │ │ ├── left_arm_link2.stl │ │ │ │ │ ├── left_arm_link3.stl │ │ │ │ │ ├── left_arm_link4.stl │ │ │ │ │ ├── left_arm_link5.stl │ │ │ │ │ ├── left_arm_link6.stl │ │ │ │ │ ├── left_arm_link7.stl │ │ │ │ │ └── left_arm_link7_simple.stl │ │ │ │ ├── left_arm_link1.mtl │ │ │ │ ├── left_arm_link1.stl │ │ │ │ ├── left_arm_link2.mtl │ │ │ │ ├── left_arm_link2.stl │ │ │ │ ├── left_arm_link3.mtl │ │ │ │ ├── left_arm_link3.stl │ │ │ │ ├── left_arm_link4.mtl │ │ │ │ ├── left_arm_link4.stl │ │ │ │ ├── left_arm_link5.mtl │ │ │ │ ├── left_arm_link5.stl │ │ │ │ ├── left_arm_link6.mtl │ │ │ │ ├── left_arm_link6.stl │ │ │ │ ├── left_arm_link7.mtl │ │ │ │ ├── left_arm_link7.stl │ │ │ │ ├── right_arm_link1.mtl │ │ │ │ ├── right_arm_link1.stl │ │ │ │ ├── right_arm_link2.mtl │ │ │ │ ├── right_arm_link2.stl │ │ │ │ ├── right_arm_link3.mtl │ │ │ │ ├── right_arm_link3.stl │ │ │ │ ├── right_arm_link4.mtl │ │ │ │ ├── right_arm_link4.stl │ │ │ │ ├── right_arm_link5.mtl │ │ │ │ ├── right_arm_link5.stl │ │ │ │ ├── right_arm_link6.mtl │ │ │ │ ├── right_arm_link6.stl │ │ │ │ ├── right_arm_link7.mtl │ │ │ │ ├── right_arm_link7.stl │ │ │ │ └── visual │ │ │ │ │ ├── left_arm_base_link.mtl │ │ │ │ │ ├── left_arm_base_link.obj │ │ │ │ │ ├── left_arm_link1.mtl │ │ │ │ │ ├── left_arm_link1.obj │ │ │ │ │ ├── left_arm_link2.mtl │ │ │ │ │ ├── left_arm_link2.obj │ │ │ │ │ ├── left_arm_link3.mtl │ │ │ │ │ ├── left_arm_link3.obj │ │ │ │ │ ├── left_arm_link4.mtl │ │ │ │ │ ├── left_arm_link4.obj │ │ │ │ │ ├── left_arm_link5.mtl │ │ │ │ │ ├── left_arm_link5.obj │ │ │ │ │ ├── left_arm_link6.mtl │ │ │ │ │ ├── left_arm_link6.obj │ │ │ │ │ ├── left_arm_link7.mtl │ │ │ │ │ ├── left_arm_link7.obj │ │ │ │ │ ├── left_arm_link7_simple.obj │ │ │ │ │ ├── left_arm_link7_w_cam_mount.mtl │ │ │ │ │ └── left_arm_link7_w_cam_mount.obj │ │ │ │ ├── body │ │ │ │ ├── collision │ │ │ │ │ └── galbot_charlie_wo_left_arm.stl │ │ │ │ └── visual │ │ │ │ │ ├── galbot_charlie_wo_left_arm.mtl │ │ │ │ │ ├── galbot_charlie_wo_left_arm.obj │ │ │ │ │ ├── galbot_charlie_wo_left_arm_head.obj │ │ │ │ │ └── material_0.png │ │ │ │ ├── chassis │ │ │ │ ├── omni_chassis_base_link.mtl │ │ │ │ └── omni_chassis_base_link.stl │ │ │ │ ├── debug │ │ │ │ └── axis.dae │ │ │ │ ├── gripper │ │ │ │ ├── collision │ │ │ │ │ ├── L20250312-01jiantou.stl │ │ │ │ │ ├── robotiq_arg2f_85_base_link.stl │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger.obj │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger_GT_convex.stl │ │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.obj │ │ │ │ │ ├── robotiq_arg2f_85_outer_finger.obj │ │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.obj │ │ │ │ │ └── robotiq_arg2f_base_link.stl │ │ │ │ ├── mjcf │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── base_coupling.stl │ │ │ │ │ ├── c-a01-85-open.stl │ │ │ │ │ ├── coupler.stl │ │ │ │ │ ├── driver.stl │ │ │ │ │ ├── follower.stl │ │ │ │ │ ├── follower_GT.stl │ │ │ │ │ ├── follower_GT_c.stl │ │ │ │ │ ├── pad.stl │ │ │ │ │ ├── spring_link.stl │ │ │ │ │ └── tongue.stl │ │ │ │ └── visual │ │ │ │ │ ├── material.mtl │ │ │ │ │ ├── robotiq_arg2f_85_base_link.obj │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger.obj │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger_GT.obj │ │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.obj │ │ │ │ │ ├── robotiq_arg2f_85_outer_finger.obj │ │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.obj │ │ │ │ │ ├── robotiq_arg2f_85_pad.obj │ │ │ │ │ └── robotiq_gripper_coupling.stl │ │ │ │ ├── head │ │ │ │ ├── head_link2.mtl │ │ │ │ └── head_link2.stl │ │ │ │ ├── leg │ │ │ │ ├── leg_link1.mtl │ │ │ │ ├── leg_link1.stl │ │ │ │ ├── leg_link2.mtl │ │ │ │ ├── leg_link2.stl │ │ │ │ ├── leg_link3.mtl │ │ │ │ ├── leg_link3.stl │ │ │ │ ├── leg_link4.mtl │ │ │ │ └── leg_link4.stl │ │ │ │ ├── suction_cup │ │ │ │ ├── suction_cup_base_link.mtl │ │ │ │ ├── suction_cup_base_link.stl │ │ │ │ ├── suction_cup_link1.mtl │ │ │ │ └── suction_cup_link1.stl │ │ │ │ └── torso │ │ │ │ ├── torso_base_link.mtl │ │ │ │ └── torso_base_link.stl │ │ │ └── unitree_go2 │ │ │ └── xmls │ │ │ ├── assets │ │ │ ├── april_36h11-42.mtl │ │ │ ├── april_36h11-42.obj │ │ │ ├── base_0.obj │ │ │ ├── base_1.obj │ │ │ ├── base_2.obj │ │ │ ├── base_3.obj │ │ │ ├── base_4.obj │ │ │ ├── basecolor.png │ │ │ ├── basecolor_2.png │ │ │ ├── calf_0.obj │ │ │ ├── calf_1.obj │ │ │ ├── calf_mirror_0.obj │ │ │ ├── calf_mirror_1.obj │ │ │ ├── container.obj │ │ │ ├── container_back.obj │ │ │ ├── container_bottom.obj │ │ │ ├── container_front.obj │ │ │ ├── container_left.obj │ │ │ ├── container_right.obj │ │ │ ├── foot.obj │ │ │ ├── hfield.png │ │ │ ├── hip_0.obj │ │ │ ├── hip_1.obj │ │ │ ├── mip_36h12-42.mtl │ │ │ ├── mip_36h12-42.obj │ │ │ ├── rocky_texture.png │ │ │ ├── tagStandard52h13-777.mtl │ │ │ ├── tagStandard52h13-777.obj │ │ │ ├── thigh_0.obj │ │ │ ├── thigh_1.obj │ │ │ ├── thigh_mirror_0.obj │ │ │ └── thigh_mirror_1.obj │ │ │ └── go2_mjx_fullcollisions_with_april.xml │ ├── demo.py │ ├── extra │ │ ├── checkpoint │ │ │ └── checkpoint_40000.pth │ │ ├── config.yaml │ │ ├── constants.py │ │ ├── model │ │ │ ├── __init__.py │ │ │ ├── est_coord.py │ │ │ └── est_pose.py │ │ ├── path.py │ │ └── utils.py │ ├── main.py │ ├── src │ │ ├── config.py │ │ ├── constants.py │ │ ├── quad_highlevel │ │ │ ├── assets │ │ │ │ ├── README.md │ │ │ │ ├── mip_36h12-42.mtl │ │ │ │ ├── mip_36h12-42.obj │ │ │ │ ├── mip_36h12-42.png │ │ │ │ └── unitree_go2 │ │ │ │ │ └── xmls │ │ │ │ │ ├── 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 │ │ │ │ │ ├── hfield.png │ │ │ │ │ ├── hip_0.obj │ │ │ │ │ ├── hip_1.obj │ │ │ │ │ ├── mip_36h12-42.mtl │ │ │ │ │ ├── mip_36h12-42.obj │ │ │ │ │ ├── mip_36h12-42.png │ │ │ │ │ ├── rocky_texture.png │ │ │ │ │ ├── thigh_0.obj │ │ │ │ │ ├── thigh_1.obj │ │ │ │ │ ├── thigh_mirror_0.obj │ │ │ │ │ └── thigh_mirror_1.obj │ │ │ │ │ ├── go2_mjx.xml │ │ │ │ │ ├── go2_mjx_feetonly.xml │ │ │ │ │ ├── go2_mjx_fullcollisions.xml │ │ │ │ │ ├── go2_mjx_fullcollisions_with_aruco.xml │ │ │ │ │ ├── scene_mjx_feetonly_flat_terrain.xml │ │ │ │ │ ├── scene_mjx_feetonly_rough_terrain.xml │ │ │ │ │ ├── scene_mjx_flat_terrain.xml │ │ │ │ │ ├── scene_mjx_fullcollisions_flat_terrain.xml │ │ │ │ │ └── scene_mjx_fullcollisions_with_aruco_flat_terrain.xml │ │ │ ├── deploy │ │ │ │ ├── constants.py │ │ │ │ └── sim │ │ │ │ │ └── quad_sim.py │ │ │ └── model_weights │ │ │ │ └── go2_loco_v9.onnx │ │ ├── robot │ │ │ ├── cfg.py │ │ │ └── robot_model.py │ │ ├── sim │ │ │ ├── cfg.py │ │ │ ├── combined_sim.py │ │ │ ├── constants.py │ │ │ └── wrapper_env.py │ │ ├── test │ │ │ └── load_test.py │ │ ├── type.py │ │ ├── utils.py │ │ └── vis.py │ └── tools │ │ ├── model │ │ ├── .gitignore │ │ ├── config │ │ │ └── test.yaml │ │ ├── src │ │ │ ├── config.py │ │ │ ├── constants.py │ │ │ ├── data.py │ │ │ ├── git.py │ │ │ ├── logger.py │ │ │ ├── model │ │ │ │ ├── __init__.py │ │ │ │ ├── est_coord.py │ │ │ │ └── est_pose.py │ │ │ ├── path.py │ │ │ ├── robot │ │ │ │ ├── cfg.py │ │ │ │ └── robot_model.py │ │ │ ├── sim │ │ │ │ ├── cfg.py │ │ │ │ ├── constants.py │ │ │ │ ├── grasp_env.py │ │ │ │ └── mujoco.py │ │ │ ├── type.py │ │ │ ├── utils.py │ │ │ └── vis.py │ │ ├── test.py │ │ ├── train.py │ │ └── train.sh │ │ ├── parallel_produce_data.py │ │ ├── produce_data.py │ │ ├── vis.py │ │ └── wrapper_env.py │ └── Handout │ ├── Assignment4.pdf │ └── Assignment4.zip ├── LICENSE ├── Notes ├── 01-EAI-Overview.md ├── 02-Robotics-I.assets │ ├── base_to_end_effector_diagram.png │ ├── coordinate_axes_vector_representation.png │ ├── coordinate_frame_transformation_diagram.png │ ├── drone_orientation_angles_axes.png │ ├── eular-angle.png │ ├── helical_one_dof_diagram.png │ ├── pitch.gif │ ├── prismatic_joint_1dof_diagram.png │ ├── prismatic_joint_mechanism_diagram.png │ ├── revolute_joint_1_dof.png │ ├── robot_arm_kinematics_diagram.png │ ├── robot_arm_revolute_joint_diagram.png │ ├── robotic_arm_link_end_effector.png │ ├── roll.gif │ ├── spherical_joint_ball_socket.png │ ├── vector_rotation_angle_diagram.png │ └── yaw.gif ├── 02-Robotics-I.md ├── 03-Robotics-II.assets │ ├── configuration_space_pathfinding.png │ ├── double_coverage.png │ ├── lerp.png │ ├── nlerp.png │ ├── nlerp_question.png │ ├── slerp.png │ ├── unit_circle_and_rotation_diagram.png │ └── vector_geometry_angle_diagram.png ├── 03-Robotics-II.md ├── 04-Robotics-III.assets │ ├── bounding_spheres.png │ ├── bridge_sampling.png │ ├── convex_hull_mesh_decomposition.png │ ├── fb.png │ ├── ff.png │ ├── overdamped_critical_underdamped.png │ ├── performance_evaluation_metrics.png │ ├── pi_vs_p_control.png │ ├── rpm_not_applicable.png │ ├── rrt_pathfinding_algorithm_diagram.png │ ├── shortcutting.png │ ├── shortcutting_not_applicable.png │ └── uniform_vs_gaussian_sampling.png ├── 04-Robotics-III.md ├── 05-Vision-and-Grasping-I.assets │ ├── double_coverage.png │ ├── euler_angle_rotation_discontinuity.png │ ├── model_to_camera_coordinates.png │ ├── not_roboust_outliner.png │ ├── posecnn_result.png │ ├── quaternion_double_coverage_fix_issue.png │ ├── quaternion_issue.svg │ ├── rotation_regression_neural_network.png │ ├── rpy.png │ ├── vision_grasping_robot_sequence.png │ ├── why_pigeon_so_big.png │ ├── why_pigeon_so_big_2.png │ └── yaw.gif ├── 05-Vision-and-Grasping-I.md ├── 06-Vision-and-Grasping-II.assets │ ├── mixed_reality_data.png │ ├── nocs_1.png │ ├── nocs_2.png │ ├── nocs_3.png │ ├── nocs_arch.png │ ├── nocs_arch_2.png │ ├── posecnn_with_without_icp.png │ └── sota_pose_estimator.png ├── 06-Vision-and-Grasping-II.md ├── 07-Vision-and-Grasping-III.assets │ ├── GraspNet.png │ ├── VGN.png │ ├── force_closure.png │ ├── friction_cone.png │ ├── graph.pdf │ ├── graph.tex │ ├── graph2.pdf │ └── graph2.tex ├── 07-Vision-and-Grasping-III.md ├── 08-Policy-I.assets │ ├── asgrasp.png │ ├── dex_grasp_net.png │ ├── diffusion.png │ ├── distribution_shift.png │ ├── generate_model.png │ ├── multi_task_learning.png │ ├── transparent_and_shiny.png │ └── where_2_act.png ├── 08-Policy-I.md ├── 09-Policy-II.assets │ ├── ac_arch.png │ └── parallel.png └── 09-Policy-II.md ├── README.md └── Slides ├── Lecture01_02_17.pdf ├── Lecture02_02_24.pdf ├── Lecture03_03_03.pdf ├── Lecture04_03_10.pdf ├── Lecture05_03_17.pdf ├── Lecture06_03_24.pdf ├── Lecture07_03_31.pdf ├── Lecture08_04_07.pdf ├── Lecture09_04_14.pdf ├── Lecture10_04_21.pdf ├── Lecture11_04_28.pdf ├── Lecture12_05_12.pdf └── Lecture13_05_19.pdf /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zhuozhiyongde/Embodied-Artificial-Intelligence-2025Spring-PKU/HEAD/.gitattributes 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