Update 2025-02-24

Author: huihuaNvidia2023

Diff for: .flake8

@@ -0,0 +1,24 @@
+# copied from https://github.com/isaac-sim/IsaacLab/blob/main/.flake8
+
+[flake8]
+show-source=True
+statistics=True
+per-file-ignores=*/__init__.py:F401
+# E402: Module level import not at top of file
+# E501: Line too long
+# W503: Line break before binary operator
+# E203: Whitespace before ':' -> conflicts with black
+# D401: First line should be in imperative mood
+# R504: Unnecessary variable assignment before return statement.
+# R505: Unnecessary elif after return statement
+# SIM102: Use a single if-statement instead of nested if-statements
+# SIM117: Merge with statements for context managers that have same scope.
+ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117
+max-line-length = 120
+max-complexity = 30
+exclude=_*,.vscode,.git,docs/**
+# docstrings
+docstring-convention=google
+# annotations
+suppress-none-returning=True
+allow-star-arg-any=True

Diff for: .gitattributes

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+# copied and modified from https://github.com/NVIDIA/warp/blob/main/.gitattributes
+* text=auto
+*.sh text eol=LF
+# copied from https://github.com/isaac-sim/IsaacLab/blob/main/.gitattributes
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.mtl filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.psd filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.usda filter=lfs diff=lfs merge=lfs -text
+*.hdr filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.jit filter=lfs diff=lfs merge=lfs -text
+neural_wbc/data/data/policy/h1:student/model_40000.pt filter=lfs diff=lfs merge=lfs -text

Diff for: .gitignore

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+**/__pycache__/
+*.egg-info
+logs/
+/data/
+third_party/human2humanoid

Diff for: .gitmodules

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+[submodule "third_party/poselib"]
+  path = third_party/poselib
+  url = ../../gr00t-control/poselib.git
+[submodule "third_party/human2humanoid"]
+  path = third_party/human2humanoid
+  url = https://github.com/LeCAR-Lab/human2humanoid
+  ignore = dirty

Diff for: .pre-commit-config.yaml

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+exclude: (third_party/.*)
+repos:
+  - repo: https://github.com/python/black
+    rev: 23.10.1
+    hooks:
+      - id: black
+        args: ["--line-length", "120", "--preview"]
+  - repo: https://github.com/pycqa/flake8
+    rev: 6.1.0
+    hooks:
+      - id: flake8
+        additional_dependencies: [flake8-simplify, flake8-return]
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: trailing-whitespace
+      - id: check-symlinks
+      - id: destroyed-symlinks
+      - id: check-yaml
+      - id: check-merge-conflict
+      - id: check-case-conflict
+      - id: check-executables-have-shebangs
+      - id: check-toml
+      - id: end-of-file-fixer
+      - id: check-shebang-scripts-are-executable
+      - id: detect-private-key
+      - id: debug-statements
+  - repo: https://github.com/pycqa/isort
+    rev: 5.12.0
+    hooks:
+      - id: isort
+        name: isort (python)
+        args: ["--profile", "black", "--filter-files"]
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.15.0
+    hooks:
+      - id: pyupgrade
+        args: ["--py37-plus"]
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        additional_dependencies:
+        - tomli
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal

Diff for: CONTRIBUTING.md

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+# How to Contribute
+
+We'd love to accept your patches and contributions.
+
+## Code Reviews
+
+All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Consult
+[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more information on using pull requests.
+
+## Signing Your Work
+
+* We require that all contributors "sign-off" on their commits. This certifies that the contribution is your original work, or you have rights to submit it under the same license, or a compatible license.
+
+  * Any contribution which contains commits that are not Signed-Off will not be accepted.
+
+* To sign off on a commit you simply use the `--signoff` (or `-s`) option when committing your changes:
+  ```bash
+  $ git commit -s -m "Add cool feature."
+  ```
+  This will append the following to your commit message:
+  ```
+  Signed-off-by: Your Name <[email protected]>
+  ```
+
+* Full text of the DCO:
+
+  ```
+    Developer Certificate of Origin
+    Version 1.1
+
+    Copyright (C) 2004, 2006 The Linux Foundation and its contributors.
+    1 Letterman Drive
+    Suite D4700
+    San Francisco, CA, 94129
+
+    Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.
+  ```
+
+  ```
+    Developer's Certificate of Origin 1.1
+
+    By making a contribution to this project, I certify that:
+
+    (a) The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or
+
+    (b) The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or
+
+    (c) The contribution was provided directly to me by some other person who certified (a), (b) or (c) and I have not modified it.
+
+    (d) I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved.

Diff for: Dockerfile

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+# syntax=docker.io/docker/dockerfile:1.7-labs
+FROM nvcr.io/nvidia/isaac-lab:2.0.0
+
+# Hide conflicting Vulkan files, if needed.
+RUN if [ -e "/usr/share/vulkan" ] && [ -e "/etc/vulkan" ]; then \
+      mv /usr/share/vulkan /usr/share/vulkan_hidden; \
+    fi
+
+# Install vs code server and file browser to interact with the running workflow.
+RUN curl -fsSL https://code-server.dev/install.sh | bash
+RUN curl -fsSL https://raw.githubusercontent.com/filebrowser/get/master/get.sh | bash
+
+WORKDIR /workspace/neural_wbc
+
+COPY \
+  --exclude=Dockerfile \
+  --exclude=data/ \
+  --exclude=logs/ \
+  --exclude=release/ \
+  --exclude=run.py \
+  --exclude=workflows/ \
+  . /workspace/neural_wbc
+
+RUN ./install_deps.sh
+
+# Bake in a resume policy. This could be a teacher or student policy. We set this first since we
+# expect it to change less frequently than the policy below.
+ARG RESUME_PATH=neural_wbc/data/data/policy/h1:student/
+COPY ${RESUME_PATH} /workspace/neural_wbc/policy/resume
+ENV RESUME_PATH=/workspace/neural_wbc/policy/resume
+ARG RESUME_CHECKPOINT=model_4000.pt
+ENV RESUME_CHECKPOINT=${RESUME_CHECKPOINT}
+
+# Bake in the main policy. This could be a teacher or student policy. Depending on the use case this
+# is used as the teacher policy or the evaluation policy.
+ARG POLICY_PATH=neural_wbc/data/data/policy/h1:teacher/
+COPY ${POLICY_PATH} /workspace/neural_wbc/policy/
+ENV POLICY_PATH=/workspace/neural_wbc/policy/
+ARG POLICY_CHECKPOINT=model_76000.pt
+ENV POLICY_CHECKPOINT=${POLICY_CHECKPOINT}