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unitree_rl_gym
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  • 237f0c7a62
         Merge 1d5830fd51 into 757b051580 dev_Nhh 2025-02-21 18:17:13 +0800
  • 1d5830fd51 debugging on real robot HYUNHONOH98 2025-02-21 17:43:00 +0900
  • 91344163ea update mujoco sim2sim - heading direction command added HYUNHONOH98 2025-02-21 12:59:46 +0900
  • 209fdce28d add navigation command HYUNHONOH98 2025-02-21 11:42:00 +0900
  • 6bfb0a9cd7 Merge branch 'localization' of github.com:YoontaeCho/unitree_rl_gym into navigation HYUNHONOH98 2025-02-20 15:45:16 +0900
  • ef6e47d04f wtf junhyekh 2025-02-20 05:28:11 +0000
  • 68656d712f need debug junhyekh 2025-02-20 04:37:16 +0000
  • bd34f59216 polciy work but not work junhyekh 2025-02-19 14:44:01 +0000
  • a0e4825fb2 change policy_path to step-policy junhyekh 2025-02-19 06:58:35 +0000
  • 7fb210f5fe Implemented first version of sim2real pipeline for step command junhyekh 2025-02-19 06:36:13 +0000
  • daee040908 pelvis pub junhyekh 2025-02-18 09:12:33 +0000
  • 0eb4927291 Merge branch 'localization' of github.com:YoontaeCho/unitree_rl_gym into navigation HYUNHONOH98 2025-02-18 18:08:02 +0900
  • e95d06298b remove debug code HYUNHONOH98 2025-02-18 18:07:32 +0900
  • a2a55861ce localization junhyekh 2025-02-18 06:03:50 +0000
  • e49bc34d71 sim2sim implemented HYUNHONOH98 2025-02-17 16:43:33 +0900
  • 22559fe14e Merge branch 'eetrack' of github.com:YoontaeCho/unitree_rl_gym into navigation HYUNHONOH98 2025-02-17 15:41:26 +0900
  • 828a73ee87 fix yjinzero 2025-02-17 15:37:44 +0900
  • a7528720da Merge branch 'eetrack' of github.com:YoontaeCho/unitree_rl_gym into navigation HYUNHONOH98 2025-02-17 14:31:31 +0900
  • 461a2da60c edit action space HYUNHONOH98 2025-02-17 14:13:29 +0900
  • 37926bf885 disable clip Yoonyoung Cho 2025-02-17 14:01:41 +0900
  • 8b2e6d135a add navigation yaml, py file HYUNHONOH98 2025-02-17 13:32:57 +0900
  • 3d4707dfd6 debug act-dof map (seems correct) Yoonyoung Cho 2025-02-17 06:09:45 +0900
  • 3f1ad050f3 fix... yjinzero 2025-02-16 23:35:04 +0900
  • c77bd33f71 comment out validation Yoonyoung Cho 2025-02-16 22:40:18 +0900
  • d613178981 world-frame hands command Yoonyoung Cho 2025-02-16 22:37:48 +0900
  • 636dce9b53 float->array Yoonyoung Cho 2025-02-16 22:16:55 +0900
  • b15754f0a7 quat_from_angle_axis mapping Yoonyoung Cho 2025-02-16 22:16:11 +0900
  • ff972e1a08 concat typo Yoonyoung Cho 2025-02-16 22:13:17 +0900
  • 4427a4c6b6 dtype -> 32 Yoonyoung Cho 2025-02-16 22:12:44 +0900
  • 3ff1403b6d translation.z Yoonyoung Cho 2025-02-16 22:11:47 +0900
  • d9a14fddf0 npmap Yoonyoung Cho 2025-02-16 22:11:15 +0900
  • ae0300ecbb vec3->list Yoonyoung Cho 2025-02-16 22:10:17 +0900
  • 04ce90f3de vec3->list Yoonyoung Cho 2025-02-16 22:09:46 +0900
  • 4f7510241d apply correct transforms Yoonyoung Cho 2025-02-16 22:07:07 +0900
  • da645b8242 map to floats yjinzero 2025-02-16 21:36:42 +0900
  • 5523771e2a fix typo yjinzero 2025-02-16 21:36:02 +0900
  • e19e43f45e dtype designation yjinzero 2025-02-16 21:35:41 +0900
  • 2c26a25f28 dtype designation yjinzero 2025-02-16 21:34:43 +0900
  • e040d2cf7e load motor joint yjinzero 2025-02-16 21:33:24 +0900
  • 2417e6a82a pinfrommot yjinzero 2025-02-16 21:32:15 +0900
  • 3a31f44dde main yjinzero 2025-02-16 21:29:36 +0900
  • 6e8cb33b3f q0 yjinzero 2025-02-16 21:29:06 +0900
  • 940861378a init vel with zeros yjinzero 2025-02-16 21:27:46 +0900
  • 379d393207 fake world-tf pub + @ Yoonyoung Cho 2025-02-16 21:23:58 +0900
  • 2376b94367 fixing et al. yjinzero 2025-02-15 17:04:25 +0900
  • 412e1c8579 fix yjinzero 2025-02-15 14:28:46 +0900
  • f96356ca27 eetrack integration yjinzero 2025-02-15 14:14:18 +0900
  • a7bdde6ad2 working...integration...?? yjinzero 2025-02-15 14:00:59 +0900
  • 016fd440f1 temoprarily copy noramlize() yjinzero 2025-02-15 11:18:04 +0900
  • 2e7355a346 add pin_from_lab yjinzero 2025-02-15 11:17:16 +0900
  • 8a2fce5a45 add qmot yjinzero 2025-02-15 11:16:42 +0900
  • 1a92a43e41 fix cfg yjinzero 2025-02-15 11:13:35 +0900
  • 9bff4e2bdc add cfg yjinzero 2025-02-15 11:11:52 +0900
  • 6e1d48a648 add cfg yjinzero 2025-02-15 11:11:27 +0900
  • 30d5e03c3a add ikctrl i guess yjinzero 2025-02-15 11:11:04 +0900
  • 187ee32892 move xyzw yjinzero 2025-02-15 11:08:55 +0900
  • e825ee0320 map test yjinzero 2025-02-15 11:08:02 +0900
  • 12febcabac fix imap, etc. Yoonyoung Cho 2025-02-14 22:29:55 +0900
  • 5fc670e9e1 technically working... yjinzero 2025-02-14 18:47:05 +0900
  • f09ab90ab7 act integration, etc yjinzero 2025-02-14 18:25:37 +0900
  • 3c333f8104 change policy path yjinzero 2025-02-14 17:59:25 +0900
  • a18a3eafe4 disable eetrack/ctrl yjinzero 2025-02-14 17:56:13 +0900
  • d56e03efdf Add eetrack class for observation 246p 2025-02-14 17:38:59 +0900
  • 46fad1f02d make things work Yoonyoung Cho 2025-02-14 17:46:13 +0900
  • 6e44134f86 cleanup a bit yjinzero 2025-02-14 17:32:24 +0900
  • 4ba4f8402a populate dummy values yjinzero 2025-02-14 17:11:43 +0900
  • 22abdda472 added com computing functions HYUNHONOH98 2025-02-14 16:38:07 +0900
  • e7ae4cdc5f added com computing functions HYUNHONOH98 2025-02-14 16:38:07 +0900
  • fa6f1bce8d update Yoonyoung Cho 2025-02-14 16:34:13 +0900
  • aba4d60180 index mapping et al. yjinzero 2025-02-14 16:21:45 +0900
  • 9bfd9ae382 proj-com yjinzero 2025-02-14 15:48:59 +0900
  • 5af22cb27f axa conversion Yoonyoung Cho 2025-02-14 15:48:44 +0900
  • 791c467a60 formatting a bunch yjinzero 2025-02-14 15:45:30 +0900
  • 274371421f working on observations yjinzero 2025-02-14 15:23:45 +0900
  • 05ed68c54a eetrack yjinzero 2025-02-14 15:11:26 +0900
  • d7745c90b5 wip Yoonyoung Cho 2025-02-12 17:17:08 +0900
  • d32a4cdf57 add note for arbitrary scaling... yjinzero 2025-02-13 22:18:29 +0900
  • 0fc5cc424d mystery yjinzero 2025-02-13 22:10:34 +0900
  • 86779e896d state pub yjinzero 2025-02-13 22:05:29 +0900
  • fa299cc83f reorg a bit yjinzero 2025-02-13 22:01:39 +0900
  • a81f4fc4a4 why do we have 35 joints? yjinzero 2025-02-13 21:58:23 +0900
  • 9ace3b0668 debug qlen yjinzero 2025-02-13 21:57:05 +0900
  • 55cf041ccf rm _node yjinzero 2025-02-13 21:55:55 +0900
  • 4b8a920e55 state pub yjinzero 2025-02-13 21:53:25 +0900
  • 06529d53df lower kp yjinzero 2025-02-13 21:22:18 +0900
  • 701ca6b366 abs-ik, test ik Yoonyoung Cho 2025-02-13 21:14:56 +0900
  • d6a314c037 make things work yjinzero 2025-02-13 20:04:46 +0900
  • 52a50f4f33 arm ik ctrl Yoonyoung Cho 2025-02-12 18:04:18 +0900
  • 0a0f4673a7 sav yjinzero 2025-02-11 21:26:53 +0900
  • 84a01f065b support policy learning with rospy junhyekh 2025-02-04 13:00:29 +0000
  • 69105aa8d0 Modified g1 urdf with rubber hand and correct collision mesh; Modified deploy_mujoco, deploy_real, and play by using the action of all 29 joint of the g1; Implemented the joint transform to deal with different joint order between the IsaacLab and the low-level controller yoontae Cho 2025-02-02 17:05:43 +0900
  • 0d60c37f90
         Merge 08a9c099fb into 757b051580 AndreaLu 2025-01-21 17:21:27 +0800
  • 08a9c099fb
         Update README.md AndreaLu 2025-01-21 17:21:03 +0800
  • 757b051580 update readme for detail main craipy 2024-12-25 12:07:22 +0800
  • 7545c89afa modify push robot craipy 2024-12-23 12:05:49 +0800
  • dbb69d7d39
         Merge pull request #25 from eltociear/patch-1 Craipy 2024-12-21 16:22:11 +0800
  • 8c90ccecc2
         docs: update README.md Ikko Eltociear Ashimine 2024-12-19 02:14:13 +0900
  • a577585705 update readme craipy 2024-12-11 20:30:19 +0800
  • 3e70454dae Deploy on physical robots craipy 2024-12-06 16:05:29 +0800
  • fb7514ad38 add the sim2sim code on mujoco craipy 2024-11-29 17:00:30 +0800