All code, scripts, and configuration accompanying this book, indexed by repository path. All code follows the repository's book-dev branch.
| File | Purpose | Chapter |
|---|
mjlab/actuators/bam_actuator.py | BAM servo model (HD1910 parameters) | BAM Actuator Modeling and Identification |
assets/robots/microduck_feetech.xml | Feetech-edition MJCF model | Automated Onshape→MJCF Modeling, 9 |
train_ppo.py | PPO training main script (with domain randomization) | Domain Randomization, 12 |
export_onnx.py | export the ONNX policy | PPO Multi-Task Training |
test_env.py | simulation-environment self-check | The MuJoCo-Warp Simulation Environment |
requirements.txt / requirements-lock.txt | dependency list | The MuJoCo-Warp Simulation Environment |
| File | Purpose | Chapter |
|---|
hd1910_bench_data_process.py | bench CSV → BAM parameter fitting | Servo and IMU Calibration, 10 |
system_id_fit.py | hardware data → inertia-parameter identification | The Sim2Real Closed-Loop Iteration |
| File | Purpose | Chapter |
|---|
onshape_config.json | Onshape assembly configuration | Automated Onshape→MJCF Modeling |
export_mjcf.py | one-command onshape-to-robot export | Automated Onshape→MJCF Modeling |
validate_mjcf.py | MJCF inertia/limit validation | Automated Onshape→MJCF Modeling |
| File | Purpose | Chapter |
|---|
check_bam_params.py | BAM parameter physical-sanity check | BAM Actuator Modeling and Identification |
check_obs_act_space.py | simulation ↔ board observation-space comparison | RK3566 Image and Firmware, 14 |
mass_inertia_check.py | whole-machine mass/inertia validation | 3D Printing, Assembly, and Tolerances |
| File | Purpose | Chapter |
|---|
Dockerfile | GPU training environment image | The MuJoCo-Warp Simulation Environment |
docker-compose.yml | one-command startup | The MuJoCo-Warp Simulation Environment |
| Directory | Purpose | Chapter |
|---|
exp01_standup/config.yaml | standing training config | Minimal Simulation Example |
exp02_walk_flat/config.yaml | flat-ground walking config | PPO Multi-Task Training |
exp03_domain_rand/config.yaml | domain-randomization ablation | Domain Randomization |
exp04_curriculum/config.yaml | curriculum-learning config | Domain Randomization |
Rust multi-daemon system: robotd (main control loop), configd (configuration), busd (bus), webui (debug interface). See RK3566 Image and Firmware.