README.md
pyproject.toml
mjlab_rl/src/__init__.py
mjlab_rl/src/assets/__init__.py
mjlab_rl/src/assets/motions/__init__.py
mjlab_rl/src/assets/motions/g1/dance1_subject2.csv
mjlab_rl/src/assets/motions/g1_23dof/dance1_subject2.csv
mjlab_rl/src/assets/robots/__init__.py
mjlab_rl/src/assets/robots/unitree_a2/__init__.py
mjlab_rl/src/assets/robots/unitree_a2/a2_constants.py
mjlab_rl/src/assets/robots/unitree_a2/xmls/a2.xml
mjlab_rl/src/assets/robots/unitree_a2/xmls/scene_a2.xml
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/base_link.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/left_front_Link1.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/left_front_Link2.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/left_front_Link3.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/left_front_Link4.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/left_hind_Link1.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/left_hind_Link2.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/left_hind_Link3.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/left_hind_Link4.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/right_front_Link1.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/right_front_Link2.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/right_front_Link3.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/right_front_Link4.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/right_hind_Link1.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/right_hind_Link2.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/right_hind_Link3.STL
mjlab_rl/src/assets/robots/unitree_a2/xmls/assets/right_hind_Link4.STL
mjlab_rl/src/assets/robots/unitree_as2/__init__.py
mjlab_rl/src/assets/robots/unitree_as2/as2_constants.py
mjlab_rl/src/assets/robots/unitree_as2/xmls/as2.xml
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/FL_calf.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/FL_foot.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/FL_hip.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/FL_thigh.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/FR_calf.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/FR_foot.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/FR_hip.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/FR_thigh.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/RL_calf.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/RL_foot.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/RL_hip.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/RL_thigh.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/RR_calf.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/RR_foot.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/RR_hip.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/RR_thigh.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/base_link.STL
mjlab_rl/src/assets/robots/unitree_as2/xmls/assets/s.STL
mjlab_rl/src/assets/robots/unitree_g1/__init__.py
mjlab_rl/src/assets/robots/unitree_g1/g1_23dof_constants.py
mjlab_rl/src/assets/robots/unitree_g1/g1_constants.py
mjlab_rl/src/assets/robots/unitree_g1/xmls/g1.xml
mjlab_rl/src/assets/robots/unitree_g1/xmls/g1_23dof.xml
mjlab_rl/src/assets/robots/unitree_g1/xmls/scene_g1.xml
mjlab_rl/src/assets/robots/unitree_g1/xmls/scene_g1_23dof.xml
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/head_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_ankle_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_ankle_roll_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_elbow_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_hip_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_hip_roll_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_hip_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_knee_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_rubber_hand.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_shoulder_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_shoulder_roll_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_shoulder_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_wrist_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_wrist_roll_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_wrist_roll_rubber_hand.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/left_wrist_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/logo_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/pelvis.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/pelvis_contour_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_ankle_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_ankle_roll_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_elbow_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_hip_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_hip_roll_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_hip_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_knee_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_rubber_hand.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_shoulder_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_shoulder_roll_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_shoulder_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_wrist_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_wrist_roll_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_wrist_roll_rubber_hand.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/right_wrist_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/torso_link_23dof_rev_1_0.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/torso_link_rev_1_0.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/waist_roll_link_rev_1_0.STL
mjlab_rl/src/assets/robots/unitree_g1/xmls/assets/waist_yaw_link_rev_1_0.STL
mjlab_rl/src/assets/robots/unitree_go2/__init__.py
mjlab_rl/src/assets/robots/unitree_go2/go2_constants.py
mjlab_rl/src/assets/robots/unitree_go2/xmls/go2.xml
mjlab_rl/src/assets/robots/unitree_go2/xmls/scene_go2.xml
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/base_0.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/base_1.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/base_2.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/base_3.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/base_4.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/calf_0.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/calf_1.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/calf_mirror_0.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/calf_mirror_1.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/foot.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/hip_0.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/hip_1.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/thigh_0.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/thigh_1.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/thigh_mirror_0.obj
mjlab_rl/src/assets/robots/unitree_go2/xmls/assets/thigh_mirror_1.obj
mjlab_rl/src/assets/robots/unitree_h1_2/__init__.py
mjlab_rl/src/assets/robots/unitree_h1_2/h1_2_constants.py
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/h1_2.xml
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/scene_h1_2.xml
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_hand_base_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_index_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_index_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_middle_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_middle_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_pinky_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_pinky_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_ring_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_ring_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_thumb_distal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_thumb_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_thumb_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/L_thumb_proximal_base.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_hand_base_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_index_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_index_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_middle_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_middle_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_pinky_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_pinky_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_ring_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_ring_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_thumb_distal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_thumb_intermediate.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_thumb_proximal.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/R_thumb_proximal_base.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_ankle_A_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_ankle_A_rod_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_ankle_B_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_ankle_B_rod_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_ankle_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_ankle_roll_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_elbow_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_hand_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_hip_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_hip_roll_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_hip_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_knee_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_shoulder_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_shoulder_roll_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_shoulder_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_wrist_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/left_wrist_roll_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link11_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link11_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link12_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link12_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link13_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link13_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link14_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link14_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link15_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link15_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link16_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link16_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link17_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link17_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link18_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link18_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link19_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link19_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link20_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link20_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link21_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link21_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link22_L.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/link22_R.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/logo_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/pelvis.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_ankle_A_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_ankle_A_rod_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_ankle_B_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_ankle_B_rod_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_ankle_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_ankle_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_ankle_roll_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_elbow_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_hand_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_hip_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_hip_roll_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_hip_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_knee_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_shoulder_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_shoulder_roll_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_shoulder_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_wrist_pitch_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/right_wrist_roll_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/torso_link.STL
mjlab_rl/src/assets/robots/unitree_h1_2/xmls/assets/wrist_yaw_link.STL
mjlab_rl/src/assets/robots/unitree_h2/__init__.py
mjlab_rl/src/assets/robots/unitree_h2/h2_constants.py
mjlab_rl/src/assets/robots/unitree_h2/xmls/h2.xml
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/head_pitch_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/head_yaw_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_ankle_pitch_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_ankle_roll_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_elbow_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_hip_pitch_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_hip_roll_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_hip_yaw_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_knee_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_shoulder_pitch_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_shoulder_roll_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_shoulder_yaw_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_wrist_pitch_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_wrist_roll_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/left_wrist_yaw_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/pelvis.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_ankle_pitch_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_ankle_roll_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_elbow_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_hip_pitch_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_hip_roll_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_hip_yaw_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_knee_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_shoulder_pitch_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_shoulder_roll_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_shoulder_yaw_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_wrist_pitch_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_wrist_roll_link.stl
mjlab_rl/src/assets/robots/unitree_h2/xmls/assets/right_wrist_yaw_link.stl
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