From 4cc91d770815027cd53123a3b9c250066c3b357c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=9Cjiawei=E2=80=9D?= <“1073198597@qq.com”>
Date: Sat, 9 Aug 2025 15:53:07 +0800
Subject: [PATCH] first commit
---
Open_Duck_Mini/Open_Duck_Mini-2/.gitignore | 11 +
Open_Duck_Mini/Open_Duck_Mini-2/FUNDING.yml | 3 +
Open_Duck_Mini/Open_Duck_Mini-2/LICENSE | 201 ++
Open_Duck_Mini/Open_Duck_Mini-2/README.md | 97 +
.../Open_Duck_Mini-2/docs/assembly_guide.md | 251 ++
.../Open_Duck_Mini-2/docs/configure_motors.md | 40 +
.../docs/feetech_identification.md | 29 +
.../Open_Duck_Mini-2/docs/head_schematic.xcf | Bin 0 -> 1564635 bytes
.../docs/open_duck_mini_v1_wiring_diagram.png | Bin 0 -> 51462 bytes
.../open_duck_mini_v2_wiring_diagram.drawio | 396 +++
.../docs/open_duck_mini_v2_wiring_diagram.png | Bin 0 -> 199472 bytes
.../Open_Duck_Mini-2/docs/prepare_robot.md | 123 +
.../Open_Duck_Mini-2/docs/print_guide.md | 43 +
.../Open_Duck_Mini-2/docs/sim2real.md | 45 +
.../Open_Duck_Mini-2/docs/wiring.drawio | 503 ++++
.../Open_Duck_Mini-2/docs/wiring.png | Bin 0 -> 8435393 bytes
.../experiments/LeRobot/README.md | 4 +
.../new_record_episodes_hdf5_NOT_WORKING.py | 166 ++
.../LeRobot/record_episodes_hdf5.py | 232 ++
.../Open_Duck_Mini-2/experiments/README.md | 3 +
.../Open_Duck_Mini-2/experiments/RL/env.py | 401 +++
.../experiments/RL/env_humanoid.py | 218 ++
.../experiments/RL/new/.gitignore | 1 +
.../experiments/RL/new/env.py | 389 +++
.../experiments/RL/new/eval.py | 130 +
.../experiments/RL/new/eval_simple.py | 142 +
.../experiments/RL/new/footsteps_env.py | 384 +++
.../experiments/RL/new/get_last_from_coach.sh | 3 +
.../experiments/RL/new/placo_imitate_env.py | 258 ++
.../experiments/RL/new/pretrain_bc.py | 41 +
.../experiments/RL/new/pretrain_gail.py | 90 +
.../experiments/RL/new/record_episodes.py | 79 +
.../experiments/RL/new/record_episodes_amp.py | 152 ++
.../RL/new/record_episodes_amp_old.py | 132 +
.../experiments/RL/new/simple_env.py | 320 +++
.../experiments/RL/new/train.py | 151 ++
.../experiments/RL/old_test.py | 83 +
.../experiments/RL/play_policy.py | 118 +
.../experiments/RL/pretrain_bc.py | 41 +
.../experiments/RL/pretrain_dbrm.py | 64 +
.../experiments/RL/pretrain_gail.py | 89 +
.../experiments/RL/record_episodes.py | 194 ++
.../experiments/RL/replay_episodes.py | 54 +
.../Open_Duck_Mini-2/experiments/RL/train.py | 150 ++
.../experiments/RL/view_hdf5.py | 11 +
.../anti_gravity_leg/anti_gravity.py | 116 +
.../experiments/identification/check_speed.py | 59 +
.../experiments/identification/get_data.py | 146 ++
.../experiments/identification/plot.py | 71 +
.../identification/plot_action_obs.py | 204 ++
.../experiments/identification/plot_obs.py | 121 +
.../experiments/identification/plot_speeds.py | 22 +
.../experiments/identification/utils.py | 42 +
.../experiments/mujoco/.gitignore | 1 +
.../mujoco/mujoco_placo_walk_engine_demo.py | 137 +
.../experiments/mujoco/mujoco_record_amp.py | 159 ++
.../experiments/mujoco/mujoco_walk_engine.py | 189 ++
.../mujoco/onnx_AMP_for_hardware_mujoco.py | 297 +++
.../experiments/mujoco/onnx_AMP_mujoco.py | 278 ++
.../experiments/mujoco/plot_latent.py | 15 +
.../experiments/placo/.gitignore | 2 +
.../placo/auto_placo_record_amp.py | 45 +
.../experiments/placo/bdx_walk.py | 322 +++
.../placo/generate_orientations_amp.py | 56 +
.../experiments/placo/placo_record_amp.py | 223 ++
.../placo/placo_record_amp_moves.py | 178 ++
.../placo/placo_walk_engine_mujoco.py | 114 +
.../placo/placo_walk_engine_test.py | 51 +
.../experiments/placo/replay_amp.py | 85 +
.../experiments/placo/test_bdx.py | 88 +
.../experiments/placo/test_placo_hwi_tmp.py | 18 +
.../experiments/real_robot/imu_gyro.py | 78 +
.../experiments/real_robot/move_test.py | 45 +
.../experiments/real_robot/new_run.py | 38 +
.../experiments/real_robot/plot.py | 45 +
.../experiments/real_robot/plot_imu.py | 33 +
.../experiments/real_robot/pressure_test.py | 15 +
.../experiments/real_robot/raw_imu_gyro.py | 50 +
.../experiments/real_robot/replay_imu_data.py | 44 +
.../experiments/real_robot/rl_walk.py | 103 +
.../experiments/real_robot/run.py | 166 ++
.../experiments/real_robot/utils.py | 15 +
.../experiments/v2/bench_com_time.py | 25 +
.../experiments/v2/configure_motors.py | 123 +
.../experiments/v2/identification.py | 80 +
.../experiments/v2/mujoco_placo_walk.py | 86 +
.../experiments/v2/onnx_AWD_mujoco.py | 243 ++
.../v2/onnx_AWD_mujoco_motor_control.py | 262 ++
.../experiments/v2/params_m6.json | 1 +
.../experiments/v2/placo_defaults.json | 52 +
.../experiments/v2/placo_fun_moves.py | 167 ++
.../experiments/v2/placo_walk_real_robot.py | 114 +
.../Open_Duck_Mini-2/experiments/v2/plot.py | 40 +
.../v2/plot_adaptation_module_latent.py | 11 +
.../v2/plot_adaptation_module_latent.py~ | 11 +
.../experiments/v2/pwm_control_test.py | 142 +
.../Open_Duck_Mini-2/experiments/v2/test.py | 39 +
.../test_understand_isaac_mujoco_transfer.py | 117 +
...and_isaac_mujoco_transfer_motor_control.py | 140 +
.../experiments/v2/walk_test.py | 16 +
.../Open_Duck_Mini-2/mini_bdx/__init__.py | 0
.../mini_bdx/mini_bdx/__init__.py | 0
.../mini_bdx/old_walk_engine/__init__.py | 1 +
.../mini_bdx/old_walk_engine/walk_engine.py | 477 ++++
.../mini_bdx/placo_walk_engine/__init__.py | 1 +
.../placo_walk_engine/placo_walk_engine.py | 301 +++
.../placo_walk_engine.py.bak | 303 +++
.../mini_bdx/mini_bdx/utils/__init__.py | 1 +
.../mini_bdx/mini_bdx/utils/mujoco_utils.py | 70 +
.../mini_bdx/mini_bdx/utils/poly_spline.py | 149 ++
.../mini_bdx/mini_bdx/utils/rl_utils.py | 120 +
.../mini_bdx/utils/xbox_controller.py | 130 +
.../mini_bdx/robots/.gitignore | 1 +
.../mini_bdx/robots/.gitignore~ | 0
.../mini_bdx/robots/bdx/39281023.prt.part | 13 +
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.../mini_bdx/robots/bdx/antenna.part | 13 +
.../mini_bdx/robots/bdx/antenna.stl | Bin 0 -> 14484 bytes
.../robots/bdx/antenna_holder_left.part | 13 +
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.../robots/bdx/antenna_holder_right.part | 13 +
.../robots/bdx/antenna_holder_right.stl | Bin 0 -> 102184 bytes
.../robots/bdx/antenna_motor_holder.part | 13 +
.../robots/bdx/antenna_motor_holder.stl | Bin 0 -> 267684 bytes
.../mini_bdx/robots/bdx/antenna_tip.part | 13 +
.../mini_bdx/robots/bdx/antenna_tip.stl | Bin 0 -> 28884 bytes
.../mini_bdx/robots/bdx/axis_to_axis.part | 13 +
.../mini_bdx/robots/bdx/axis_to_axis.stl | Bin 0 -> 223284 bytes
.../mini_bdx/robots/bdx/block_to_axis.part | 13 +
.../mini_bdx/robots/bdx/block_to_axis.stl | Bin 0 -> 272084 bytes
.../mini_bdx/robots/bdx/bms.part | 13 +
.../mini_bdx/robots/bdx/bms.stl | Bin 0 -> 684 bytes
.../mini_bdx/robots/bdx/bno055.part | 13 +
.../mini_bdx/robots/bdx/bno055.stl | Bin 0 -> 73484 bytes
.../mini_bdx/robots/bdx/board.part | 13 +
.../mini_bdx/robots/bdx/board.stl | Bin 0 -> 368284 bytes
.../mini_bdx/robots/bdx/body_part.part | 13 +
.../mini_bdx/robots/bdx/body_part.stl | Bin 0 -> 359684 bytes
.../mini_bdx/robots/bdx/cage_back.part | 13 +
.../mini_bdx/robots/bdx/cage_back.stl | Bin 0 -> 222084 bytes
.../mini_bdx/robots/bdx/cage_bottom.part | 13 +
.../mini_bdx/robots/bdx/cage_bottom.stl | Bin 0 -> 409584 bytes
.../robots/bdx/cage_bottom_battery_hold.part | 13 +
.../robots/bdx/cage_bottom_battery_hold.stl | Bin 0 -> 181984 bytes
.../mini_bdx/robots/bdx/cage_top.part | 13 +
.../mini_bdx/robots/bdx/cage_top.stl | Bin 0 -> 139284 bytes
.../mini_bdx/robots/bdx/cell.part | 13 +
.../mini_bdx/robots/bdx/cell.stl | Bin 0 -> 273684 bytes
.../mini_bdx/robots/bdx/config.json | 5 +
.../robots/bdx/dc15_a01_case_b_dummy.part | 13 +
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.../robots/bdx/dc15_a01_case_f_dummy.part | 13 +
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.../robots/bdx/dc15_a01_horn_dummy.part | 13 +
.../robots/bdx/dc15_a01_horn_dummy.stl | Bin 0 -> 445184 bytes
.../robots/bdx/dc15_a01_horn_idle2_dummy.part | 13 +
.../robots/bdx/dc15_a01_horn_idle2_dummy.stl | Bin 0 -> 296884 bytes
.../mini_bdx/robots/bdx/double_u.part | 13 +
.../mini_bdx/robots/bdx/double_u.stl | Bin 0 -> 295884 bytes
.../mini_bdx/robots/bdx/foot.part | 13 +
.../mini_bdx/robots/bdx/foot.stl | Bin 0 -> 244784 bytes
.../mini_bdx/robots/bdx/foot_contact.part | 13 +
.../mini_bdx/robots/bdx/foot_contact.stl | Bin 0 -> 78684 bytes
.../mini_bdx/robots/bdx/front_cover.part | 13 +
.../mini_bdx/robots/bdx/front_cover.stl | Bin 0 -> 260384 bytes
.../mini_bdx/robots/bdx/head.part | 13 +
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.../mini_bdx/robots/bdx/head_roll_pitch.part | 13 +
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.../robots/bdx/hip_left_roll_to_pitch.part | 13 +
.../robots/bdx/hip_left_roll_to_pitch.stl | Bin 0 -> 122384 bytes
.../robots/bdx/hip_right_roll_to_pitch.part | 13 +
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.../mini_bdx/robots/bdx/holder.part | 13 +
.../mini_bdx/robots/bdx/holder.stl | Bin 0 -> 1484 bytes
.../robots/bdx/holder_u2d2_power_hub.part | 13 +
.../robots/bdx/holder_u2d2_power_hub.stl | Bin 0 -> 155184 bytes
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.../micro_usb_2_0_connector__ab_rec.prt.part | 13 +
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.../mini_bdx/robots/bdx/power_switch.part | 13 +
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.../mini_bdx/robots/bdx/rasp_spacer.part | 13 +
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.../mini_bdx/robots/bdx/raspberrypizerow.part | 13 +
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.../mini_bdx/robots/bdx/renfort_leg.stl | Bin 0 -> 29884 bytes
.../mini_bdx/robots/bdx/robot.urdf | 2284 +++++++++++++++++
.../mini_bdx/robots/bdx/robot.xml | 305 +++
.../mini_bdx/robots/bdx/scene.xml | 31 +
.../mini_bdx/robots/bdx/sg90.part | 13 +
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.../robots/open_duck_mini_v2/antenna.stl | Bin 0 -> 28884 bytes
.../open_duck_mini_v2/battery_pack_lid.part | 13 +
.../open_duck_mini_v2/battery_pack_lid.stl | Bin 0 -> 119584 bytes
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.../robots/open_duck_mini_v2/bno055.part | 14 +
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.../robots/open_duck_mini_v2/config.json | 5 +
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.../robots/open_duck_mini_v2/robot.urdf | 2269 ++++++++++++++++
.../robots/open_duck_mini_v2/robot.xml | 303 +++
.../robots/open_duck_mini_v2/robot_motors.xml | 1086 ++++++++
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.../Open_Duck_Mini-2/print/trunk_bottom.stl | Bin 0 -> 222384 bytes
.../Open_Duck_Mini-2/print/trunk_top.stl | Bin 0 -> 723884 bytes
.../Open_Duck_Mini-2/pyproject.toml | 3 +
Open_Duck_Mini/Open_Duck_Mini-2/setup.cfg | 41 +
Open_Duck_Mini/Open_Duck_Mini-2/thanks.md | 10 +
349 files changed, 20359 insertions(+)
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/.gitignore
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create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/bdx/sg90.stl
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create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/bdx/u2d2_casing.prt.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/bdx/u2d2_casing.prt.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/bdx/usb_c_charger.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/bdx/usb_c_charger.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/antenna.part
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create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/bms.part
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create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/bno055.part
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create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/board.part
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create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/cell.part
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create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/head_pitch_to_yaw.part
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create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/head_roll_mount.part
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create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/head_yaw_to_roll.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/holder.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/holder.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_antenna_holder.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_antenna_holder.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_cache.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_cache.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_knee_to_ankle_left_sheet.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_knee_to_ankle_left_sheet.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_knee_to_ankle_right_sheet.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_knee_to_ankle_right_sheet.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_roll_to_pitch.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/left_roll_to_pitch.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/leg_spacer.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/leg_spacer.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/neck_left_sheet.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/neck_left_sheet.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/neck_right_sheet.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/neck_right_sheet.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/passive_palonier.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/passive_palonier.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/power_switch.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/power_switch.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/raspberrypizerow.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/raspberrypizerow.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/right_antenna_holder.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/right_antenna_holder.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/right_cache.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/right_cache.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/right_roll_to_pitch.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/right_roll_to_pitch.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/robot.urdf
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/robot.xml
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/robot_motors.xml
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/roll_bearing.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/roll_bearing.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/roll_motor_bottom.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/roll_motor_bottom.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/roll_motor_top.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/roll_motor_top.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/scene.xml
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/scene_position.xml
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/sg90.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/sg90.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/trunk_bottom.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/trunk_bottom.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/trunk_top.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/trunk_top.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/usb_c_charger.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/usb_c_charger.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/wj-wk00-0122topcabinetcase_95.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/wj-wk00-0122topcabinetcase_95.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/wj-wk00-0123middlecase_56.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/wj-wk00-0123middlecase_56.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/wj-wk00-0124bottomcase_45.part
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/mini_bdx/robots/open_duck_mini_v2/wj-wk00-0124bottomcase_45.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/battery_pack_lid.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/body_back.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/body_front.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/body_middle_bottom.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/body_middle_top.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/bulb.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/flash_light_module.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/flash_reflector_interface.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/foot_bottom_pla.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/foot_bottom_tpu.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/foot_side.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/foot_top.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/head.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/head_bot_sheet.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/head_pitch_to_yaw.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/head_roll_mount.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/head_yaw_to_roll.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/knee_to_ankle_left_sheet.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/knee_to_ankle_right_sheet.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/left_antenna_holder.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/left_cache.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/left_eye.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/left_roll_to_pitch.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/leg_spacer.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/neck_left_sheet.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/neck_right_sheet.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/right_antenna_holder.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/right_cache.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/right_eye.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/right_roll_to_pitch.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/roll_motor_bottom.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/roll_motor_top.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/speaker_interface.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/speaker_stand.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/trunk_bottom.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/print/trunk_top.stl
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/pyproject.toml
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/setup.cfg
create mode 100644 Open_Duck_Mini/Open_Duck_Mini-2/thanks.md
diff --git a/Open_Duck_Mini/Open_Duck_Mini-2/.gitignore b/Open_Duck_Mini/Open_Duck_Mini-2/.gitignore
new file mode 100644
index 0000000..786bdaf
--- /dev/null
+++ b/Open_Duck_Mini/Open_Duck_Mini-2/.gitignore
@@ -0,0 +1,11 @@
+__pycache__/
+gym/logs/*
+*.pkl
+mini_bdx/mini_bdx.egg-info/*
+experiments/RL/data/*
+experiments/RL/new/logs/
+experiments/RL/new/sac/
+experiments/RL/new/ppo/
+*.zip
+*.txt
+*.onnx
diff --git a/Open_Duck_Mini/Open_Duck_Mini-2/FUNDING.yml b/Open_Duck_Mini/Open_Duck_Mini-2/FUNDING.yml
new file mode 100644
index 0000000..22a38ad
--- /dev/null
+++ b/Open_Duck_Mini/Open_Duck_Mini-2/FUNDING.yml
@@ -0,0 +1,3 @@
+# These are supported funding model platforms
+
+github: apirrone
diff --git a/Open_Duck_Mini/Open_Duck_Mini-2/LICENSE b/Open_Duck_Mini/Open_Duck_Mini-2/LICENSE
new file mode 100644
index 0000000..261eeb9
--- /dev/null
+++ b/Open_Duck_Mini/Open_Duck_Mini-2/LICENSE
@@ -0,0 +1,201 @@
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
+ and distribution as defined by Sections 1 through 9 of this document.
+
+ "Licensor" shall mean the copyright owner or entity authorized by
+ the copyright owner that is granting the License.
+
+ "Legal Entity" shall mean the union of the acting entity and all
+ other entities that control, are controlled by, or are under common
+ control with that entity. For the purposes of this definition,
+ "control" means (i) the power, direct or indirect, to cause the
+ direction or management of such entity, whether by contract or
+ otherwise, or (ii) ownership of fifty percent (50%) or more of the
+ outstanding shares, or (iii) beneficial ownership of such entity.
+
+ "You" (or "Your") shall mean an individual or Legal Entity
+ exercising permissions granted by this License.
+
+ "Source" form shall mean the preferred form for making modifications,
+ including but not limited to software source code, documentation
+ source, and configuration files.
+
+ "Object" form shall mean any form resulting from mechanical
+ transformation or translation of a Source form, including but
+ not limited to compiled object code, generated documentation,
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+
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diff --git a/Open_Duck_Mini/Open_Duck_Mini-2/README.md b/Open_Duck_Mini/Open_Duck_Mini-2/README.md
new file mode 100644
index 0000000..0becdbe
--- /dev/null
+++ b/Open_Duck_Mini/Open_Duck_Mini-2/README.md
@@ -0,0 +1,97 @@
+# Open Duck Mini v2
+
+
+
+We are making a miniature version of the BDX Droid by Disney. It is about 42 centimeters tall with its legs extended.
+The full BOM cost should be under $400 !
+
+This repo is kind of a hub where we centralize all resources related to this project. This is a working repo, so there are a lot of undocumented scripts :) We'll try to clean things up at some point.
+
+
+# State of sim2real
+
+https://github.com/user-attachments/assets/58721d0f-2f95-4088-8900-a5d02f41bba7
+
+https://github.com/user-attachments/assets/4129974a-9d97-4651-9474-c078043bb182
+
+https://github.com/user-attachments/assets/a0afcd38-15d8-40c6-8171-a619107406b8
+
+
+# Updates
+
+> Update 02/04/2024: You can try two policies we trained : [this one](BEST_WALK_ONNX.onnx) and [this one](BEST_WALK_ONNX_2.onnx)
+> Run with the following arguments :
+> python v2_rl_walk_mujoco.py --onnx_model_path ~/BEST_WALK_ONNX_2.onnx
+
+> Update 15/03/2025: join our discord server to get help or show us your duck :) https://discord.gg/UtJZsgfQGe
+
+> Update 07/02/2025: Big progress on sim2real, see videos above :)
+
+> Update 24/02/2025: Working hard on sim2real !
+
+> Update 07/02/2025 : We are writing documentation on the go, but the design and BOM should not change drastically. Still missing the "expression" features, but they can be added after building the robot!
+
+> Update 22/01/2025 : The mechanical design is pretty much finalized (fixing some mistakes here and there). The current version does not include all the "expression" features we want to include in the final robot (LEDs for the eyes, a camera, a speaker and a microphone). We are now working on making it walk with reinforcement learning !
+
+# Community
+
+
+
+Join our discord community ! https://discord.gg/UtJZsgfQGe
+
+# CAD
+
+https://cad.onshape.com/documents/64074dfcfa379b37d8a47762/w/3650ab4221e215a4f65eb7fe/e/0505c262d882183a25049d05
+
+See [this document](docs/prepare_robot.md) for getting from a onshape design to a simulated robot in MuJoCo (Warning, outdated. Has not been updated in a while)
+
+# RL stuff
+
+We are switching to Mujoco Playground, see this [repo](https://github.com/apirrone/Open_Duck_Playground)
+
+https://github.com/user-attachments/assets/037a1790-7ac1-4140-b154-2c901d20d5f5
+
+
+## Reference motion generation for imitation learning
+
+https://github.com/user-attachments/assets/4cb52e17-99a5-47a8-b841-4141596b7afb
+
+See [this repo](https://github.com/apirrone/Open_Duck_reference_motion_generator)
+
+## Actuator identification
+
+We used Rhoban's [BAM](https://github.com/Rhoban/bam)
+
+# BOM
+
+https://docs.google.com/spreadsheets/d/1gq4iWWHEJVgAA_eemkTEsshXqrYlFxXAPwO515KpCJc/edit?usp=sharing
+
+Chinese: https://zihao-ai.feishu.cn/wiki/AfAtw69vRigXaRk5UkbcrAiLnJw?from=from_copylink
+
+# Build Guide
+
+Chinese: https://zihao-ai.feishu.cn/wiki/space/7488517034406625281
+
+## Print Guide
+
+See [print_guide](docs/print_guide.md).
+
+## Assembly Guide
+
+See [assembly guide (incomplete)](docs/assembly_guide.md).
+
+# Embedded runtime
+
+This repo contains the code to run the policies on the onboard computer (Raspberry pi zero 2w) https://github.com/apirrone/Open_Duck_Mini_Runtime
+
+# Training your own policies
+
+If you want to train your own policies, and contribute to making the ducks walk nicely, see [this document](docs/sim2real.md)
+
+> Thanks a lot to HuggingFace and Pollen Robotics for sponsoring this project !
diff --git a/Open_Duck_Mini/Open_Duck_Mini-2/docs/assembly_guide.md b/Open_Duck_Mini/Open_Duck_Mini-2/docs/assembly_guide.md
new file mode 100644
index 0000000..e264fe5
--- /dev/null
+++ b/Open_Duck_Mini/Open_Duck_Mini-2/docs/assembly_guide.md
@@ -0,0 +1,251 @@
+# Assembly guide
+
+> Before assembling the duck, you should first [configure your motors](./configure_motors.md)
+
+## Requirements :
+
+You will need :
+- A soldering iron, and basic electronics tools and skills
+- X m3 screws (TODO : add the exact number)
+- Some wire
+- Loctite Threadlocker blue 243
+
+> General note : Everytime you screw something in the motors metal against metal, you want to use a little loctite threadlocker. This will prevent the screws from coming loose due to the vibrations during the operation of the robot. It adds a little time to to the build, but you'll be glad you took the time ;)
+>
+> Don't use loctite with the plastic screws
+
+> At any time, you can refer to the CAD here : https://cad.onshape.com/documents/64074dfcfa379b37d8a47762/w/3650ab4221e215a4f65eb7fe/e/0505c262d882183a25049d05
+
+## Steps :
+
+### Assemble the trunk
+
+Place the bearings in `trunk_bottom` like so, and insert M3 inserts in these holes. It's also a good time to insert the 4 M3 inserts in the bottom of this part to mount body parts later on.
+
+
+
+Then assamble `trunk_bottom` and `trunk_top`, and screw them together with 2 `M3x10` screws through these holes
+
+
+
+Mount the middle motor like so and screw it with the plastic screws that came with the motors :
+
+
+
+Insert `roll_motor_bottom` like this
+
+
+
+
+### Assemble the feet
+
+Both feet are the same.
+
+First, assemble `foot_bottom_tpu` with `foot_bottom_pla`. Insert M3 inserts in these holes :
+
+
+
+And screw the two parts together with two `M3x6` screws.
+
+Then, insert M3 inserts in these holes in `foot_top` here :
+
+
+
+And assemble everything like so. Make sure the driver side of the motor is on the `foot_top` part side :
+
+
+
+  |
+  |
+
+
+
+You can add the foot switches like this too :
+
+> You press fit them so that the switch is activated when the foot touches the ground
+
+
+
+  |
+  |
+
+
+
+
+### Assemble the shins
+
+Insert M3 Inserts in these holes of `leg_spacer` (on both sides. Insert 4 M3 inserts in total) :
+
+
+
+Then, first plug the motor cable in the foot's motor, and make it go through the `right_sheet` like so
+
+
+
+Then assemble like below:
+
+
+
+### Assemble the thighs
+
+The thigh is pretty much the same thing, except the `hip_pitch` motor is mounted this way (important for the zero position)
+
+
+
+### Assemble the hips
+
+Mount `left_roll_to_pitch` or `right_roll_to_pitch`, here the parts are symmetrical so you have to use the right one.
+
+
+
+Mount `roll_motor_top` to the `hip_yaw` servo (screw from the bottom). Don't mount the servo to the trunk yet.
+
+
+
+
+Then mount `hip_roll` like this
+
+
+
+And insert the sub assembly like this
+
+
+
+Screw everything you can (with the plastic screws provided with the servos)
+
+You can now mount the leg like this :
+
+
+
+And do the same for the other leg :)
+
+Your duck should now look like this
+
+
+
+### Assemble the neck
+
+You know the drill
+
+
+
+### Assemble the head mechanism
+
+First, mount `head_pitch_to_yaw` like this
+
+
+
+Then, independently mount `head_yaw_to_roll` and `head_roll_mount` to `head_roll dof`
+
+
+
+(You can insert `head_bot_plate` and `body_middle_top` now too to avoid having to disassamble the head later)
+
+Then
+
+
+
+Then
+
+
+
+Your duck should now look like this
+
+
+
+### Mount the servo driver board
+
+TODO take a photo
+
+### Mount the IMU
+
+Like this
+
+> It's actually better to mount the IMU with the correct natural orientation, which would be flipped along the X axis compared to the pictures below
+> In the picture below, the IMU is mounted upside down.
+> It probably doesn't really matter a lot if you mount it upside down or not. You can configure how you mounted it later
+
+
+
+  |
+  |
+
+
+
+## Electronics
+
+Here is the global electonics schematic for reference
+
+
+
+  |
+  |
+
+
+
+Here is how to wire the feet
+
+
+
+
+
+### Battery pack
+
+> To be safe, make sure your cells are charged to the same voltage before placing them in the holder.
+
+
+
+  |
+  |
+
+
+
+
+### Head
+
+First, insert the M3 inserts in all these holes
+
+
+
+> TODO add instructions for expression features (camera, antennas, eye leds, projector and speaker)
+
+Then insert the bearing, mount the ear motors and the raspberry pi zero 2w.
+
+For reference, the inside of the head looks like this now
+
+
+
+
+Then assemble the neck with the head like this
+
+
+
+
+## Body
+
+First screw on `body_middle_bottom`
+
+
+
+Then insert the M3 inserts in all the holes of `body_middle_bottom` and `body_middle_top` on which we'll mount the battery pack and `body_front`.
+
+Then mount `body_middle_top`, `body_front` and the battery pack
+
+
+
+  |
+  |
+
+
+
+Et voila :)
+
+
+
+  |
+  |
+
+
+
+
+> Now that your duck is fully assembled, you setup the raspberry pi and the runtime software [here](https://github.com/apirrone/Open_Duck_Mini_Runtime)
diff --git a/Open_Duck_Mini/Open_Duck_Mini-2/docs/configure_motors.md b/Open_Duck_Mini/Open_Duck_Mini-2/docs/configure_motors.md
new file mode 100644
index 0000000..a2bf15a
--- /dev/null
+++ b/Open_Duck_Mini/Open_Duck_Mini-2/docs/configure_motors.md
@@ -0,0 +1,40 @@
+# Configure the motors
+
+> This sould be done independently on each motor *before* builiding the duck.
+>
+> During the process, the motor will move to its zero position. You can then install the horn while trying to align it the best you can like in the photo below. (Don't worry if it's not perfect, we will compensate for that later)
+
+
+
+
+Clone and install (`pip install -e .`) the runtime repo on the `v2` branch : `https://github.com/apirrone/Open_Duck_Mini_Runtime`
+
+You can either install it on your own computer or on the raspberry pi for the configuration, as you want. You'll just want a way to power the servos, for example, the battery pack.
+
+
+Then for each motor, run the following command :
+
+```bash
+python configure_motor.py --id
+```
+
+The motors ids are :
+
+```python
+{
+ "left_hip_yaw": 20,
+ "left_hip_roll": 21,
+ "left_hip_pitch": 22,
+ "left_knee": 23,
+ "left_ankle": 24,
+ "neck_pitch": 30,
+ "head_pitch": 31,
+ "head_yaw": 32,
+ "head_roll": 33,
+ "right_hip_yaw": 10,
+ "right_hip_roll": 11,
+ "right_hip_pitch": 12,
+ "right_knee": 13,
+ "right_ankle": 14,
+}
+```
diff --git a/Open_Duck_Mini/Open_Duck_Mini-2/docs/feetech_identification.md b/Open_Duck_Mini/Open_Duck_Mini-2/docs/feetech_identification.md
new file mode 100644
index 0000000..c9dbd45
--- /dev/null
+++ b/Open_Duck_Mini/Open_Duck_Mini-2/docs/feetech_identification.md
@@ -0,0 +1,29 @@
+$\theta_d^f$ : $\theta$ requested in firmware units
+
+$\epsilon = \theta_d^f - \theta^f$
+
+### Error in firmware units
+
+> $\lambda$ is the duty cycle, aka the **PWM**
+
+
+
+$\epsilon^f = \epsilon \frac{4096}{2\pi}$
+
+> 12 bits
+
+### Firmware duty cycle
+
+
+$\lambda^f = K_p \epsilon^f$
+
+$\lambda = K_p K_g\epsilon$
+
+
+$R = 2.5\Omega$
+
+------
+
+$\lambda = \epsilon K_p K_g$
+
+$K_g = \frac{\lambda}{\epsilon K_p }$
\ No newline at end of file
diff --git a/Open_Duck_Mini/Open_Duck_Mini-2/docs/head_schematic.xcf b/Open_Duck_Mini/Open_Duck_Mini-2/docs/head_schematic.xcf
new file mode 100644
index 0000000000000000000000000000000000000000..014171342f0beefcd0ee9c34ff417c0b9f2e413f
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