LICENSE
README.md
pyproject.toml
cadenza_lab/__init__.py
cadenza_lab.egg-info/PKG-INFO
cadenza_lab.egg-info/SOURCES.txt
cadenza_lab.egg-info/dependency_links.txt
cadenza_lab.egg-info/entry_points.txt
cadenza_lab.egg-info/requires.txt
cadenza_lab.egg-info/top_level.txt
src/__init__.py
src/__main__.py
src/disturbance.py
src/g1.py
src/g1_gait.py
src/go1.py
src/sim.py
src/actions/__init__.py
src/actions/benchmarks.py
src/actions/library.py
src/actions/trained/__init__.py
src/actions/trained/g1_trained_actions.py
src/deploy/__init__.py
src/deploy/bridge.py
src/deploy/connection.py
src/deploy/g1_driver.py
src/deploy/go1_driver.py
src/deploy/ssh.py
src/locomotion/__init__.py
src/locomotion/bipedal_gait.py
src/locomotion/gait_engine.py
src/locomotion/kinematics.py
src/locomotion/robot_spec.py
src/models/g1/g1_full.xml
src/models/g1/g1_position.xml
src/models/g1/head_link.STL
src/models/g1/left_ankle_pitch_link.STL
src/models/g1/left_ankle_roll_link.STL
src/models/g1/left_elbow_link.STL
src/models/g1/left_hand_index_0_link.STL
src/models/g1/left_hand_index_1_link.STL
src/models/g1/left_hand_middle_0_link.STL
src/models/g1/left_hand_middle_1_link.STL
src/models/g1/left_hand_palm_link.STL
src/models/g1/left_hand_thumb_0_link.STL
src/models/g1/left_hand_thumb_1_link.STL
src/models/g1/left_hand_thumb_2_link.STL
src/models/g1/left_hip_pitch_link.STL
src/models/g1/left_hip_roll_link.STL
src/models/g1/left_hip_yaw_link.STL
src/models/g1/left_knee_link.STL
src/models/g1/left_rubber_hand.STL
src/models/g1/left_shoulder_pitch_link.STL
src/models/g1/left_shoulder_roll_link.STL
src/models/g1/left_shoulder_yaw_link.STL
src/models/g1/left_wrist_pitch_link.STL
src/models/g1/left_wrist_roll_link.STL
src/models/g1/left_wrist_yaw_link.STL
src/models/g1/logo_link.STL
src/models/g1/pelvis.STL
src/models/g1/pelvis_contour_link.STL
src/models/g1/right_ankle_pitch_link.STL
src/models/g1/right_ankle_roll_link.STL
src/models/g1/right_elbow_link.STL
src/models/g1/right_hand_index_0_link.STL
src/models/g1/right_hand_index_1_link.STL
src/models/g1/right_hand_middle_0_link.STL
src/models/g1/right_hand_middle_1_link.STL
src/models/g1/right_hand_palm_link.STL
src/models/g1/right_hand_thumb_0_link.STL
src/models/g1/right_hand_thumb_1_link.STL
src/models/g1/right_hand_thumb_2_link.STL
src/models/g1/right_hip_pitch_link.STL
src/models/g1/right_hip_roll_link.STL
src/models/g1/right_hip_yaw_link.STL
src/models/g1/right_knee_link.STL
src/models/g1/right_rubber_hand.STL
src/models/g1/right_shoulder_pitch_link.STL
src/models/g1/right_shoulder_roll_link.STL
src/models/g1/right_shoulder_yaw_link.STL
src/models/g1/right_wrist_pitch_link.STL
src/models/g1/right_wrist_roll_link.STL
src/models/g1/right_wrist_yaw_link.STL
src/models/g1/scene.xml
src/models/g1/stand_q.npy
src/models/g1/torso_link_rev_1_0.STL
src/models/g1/waist_roll_link_rev_1_0.STL
src/models/g1/waist_yaw_link_rev_1_0.STL
src/models/g1/walk_ctrl.npy
src/models/g1/walk_cycle_ctrl.npy
src/models/g1/walk_cycle_q.npy
src/models/g1/walk_cycle_qpos.npy
src/models/g1/walk_cycle_t.npy
src/models/g1/walk_dt.npy
src/models/g1/walk_floor_solimp.npy
src/models/g1/walk_floor_solref.npy
src/models/g1/walk_fourier_coeffs.npy
src/models/g1/walk_init_ctrl.npy
src/models/g1/walk_init_qpos.npy
src/models/g1/walk_qpos.npy
src/models/g1/walk_splines.npz
src/models/g1/walk_stand_ctrl.npy
src/models/g1/walk_stand_qpos.npy
src/models/g1/walk_stride_ctrl.npy
src/models/g1/meshes/head_link.STL
src/models/g1/meshes/left_ankle_pitch_link.STL
src/models/g1/meshes/left_ankle_roll_link.STL
src/models/g1/meshes/left_elbow_link.STL
src/models/g1/meshes/left_hand_index_0_link.STL
src/models/g1/meshes/left_hand_index_1_link.STL
src/models/g1/meshes/left_hand_middle_0_link.STL
src/models/g1/meshes/left_hand_middle_1_link.STL
src/models/g1/meshes/left_hand_palm_link.STL
src/models/g1/meshes/left_hand_thumb_0_link.STL
src/models/g1/meshes/left_hand_thumb_1_link.STL
src/models/g1/meshes/left_hand_thumb_2_link.STL
src/models/g1/meshes/left_hip_pitch_link.STL
src/models/g1/meshes/left_hip_roll_link.STL
src/models/g1/meshes/left_hip_yaw_link.STL
src/models/g1/meshes/left_knee_link.STL
src/models/g1/meshes/left_rubber_hand.STL
src/models/g1/meshes/left_shoulder_pitch_link.STL
src/models/g1/meshes/left_shoulder_roll_link.STL
src/models/g1/meshes/left_shoulder_yaw_link.STL
src/models/g1/meshes/left_wrist_pitch_link.STL
src/models/g1/meshes/left_wrist_roll_link.STL
src/models/g1/meshes/left_wrist_roll_rubber_hand.STL
src/models/g1/meshes/left_wrist_yaw_link.STL
src/models/g1/meshes/logo_link.STL
src/models/g1/meshes/pelvis.STL
src/models/g1/meshes/pelvis_contour_link.STL
src/models/g1/meshes/right_ankle_pitch_link.STL
src/models/g1/meshes/right_ankle_roll_link.STL
src/models/g1/meshes/right_elbow_link.STL
src/models/g1/meshes/right_hand_index_0_link.STL
src/models/g1/meshes/right_hand_index_1_link.STL
src/models/g1/meshes/right_hand_middle_0_link.STL
src/models/g1/meshes/right_hand_middle_1_link.STL
src/models/g1/meshes/right_hand_palm_link.STL
src/models/g1/meshes/right_hand_thumb_0_link.STL
src/models/g1/meshes/right_hand_thumb_1_link.STL
src/models/g1/meshes/right_hand_thumb_2_link.STL
src/models/g1/meshes/right_hip_pitch_link.STL
src/models/g1/meshes/right_hip_roll_link.STL
src/models/g1/meshes/right_hip_yaw_link.STL
src/models/g1/meshes/right_knee_link.STL
src/models/g1/meshes/right_rubber_hand.STL
src/models/g1/meshes/right_shoulder_pitch_link.STL
src/models/g1/meshes/right_shoulder_roll_link.STL
src/models/g1/meshes/right_shoulder_yaw_link.STL
src/models/g1/meshes/right_wrist_pitch_link.STL
src/models/g1/meshes/right_wrist_roll_link.STL
src/models/g1/meshes/right_wrist_roll_rubber_hand.STL
src/models/g1/meshes/right_wrist_yaw_link.STL
src/models/g1/meshes/torso_constraint_L_link.STL
src/models/g1/meshes/torso_constraint_L_rod_link.STL
src/models/g1/meshes/torso_constraint_R_link.STL
src/models/g1/meshes/torso_constraint_R_rod_link.STL
src/models/g1/meshes/torso_link.STL
src/models/g1/meshes/torso_link_23dof_rev_1_0.STL
src/models/g1/meshes/torso_link_rev_1_0.STL
src/models/g1/meshes/waist_constraint_L.STL
src/models/g1/meshes/waist_constraint_R.STL
src/models/g1/meshes/waist_roll_link.STL
src/models/g1/meshes/waist_roll_link_rev_1_0.STL
src/models/g1/meshes/waist_support_link.STL
src/models/g1/meshes/waist_yaw_link.STL
src/models/g1/meshes/waist_yaw_link_rev_1_0.STL
src/models/go1/obstacle_scene.xml
src/models/go1/scene.xml
src/parser/__init__.py
src/parser/optimizer.py
src/parser/translator.py
src/robots/__init__.py
src/robots/g1/__init__.py
src/robots/g1/primitives.py
src/robots/go1/__init__.py
src/robots/go1/primitives.py
src/stack/__init__.py
src/stack/bridge.py
src/stack/builder.py
src/stack/detector.py
src/stack/gym_adapter.py
src/stack/runtime.py
src/stack/trajectory.py
src/stack/vocabulary.py
src/stack/adapters/__init__.py
src/stack/adapters/base.py
src/stack/adapters/mock.py
src/stack/adapters/openvla.py
src/stack/adapters/pi_zero.py
src/stack/adapters/smolvla.py
src/stack/vision/__init__.py
src/stack/vision/depth.py
src/stack/vision/navigator.py
src/vla/__init__.py
src/vla/guardian.py
tests/test_g1_trained_stability.py
tests/test_go1_actions.py
tests/test_vla_obstacle.py