[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"project-78892":3},{"id":4,"name":5,"fullName":6,"owner":7,"repo":5,"description":8,"homepage":8,"htmlUrl":8,"language":8,"languages":8,"totalLinesOfCode":8,"stars":9,"forks":10,"watchers":11,"openIssues":12,"contributorsCount":12,"subscribersCount":12,"size":12,"stars1d":13,"stars7d":14,"stars30d":15,"stars90d":12,"forks30d":12,"starsTrendScore":11,"compositeScore":16,"rankGlobal":8,"rankLanguage":8,"license":8,"archived":17,"fork":17,"defaultBranch":18,"hasWiki":17,"hasPages":17,"topics":19,"createdAt":8,"pushedAt":8,"updatedAt":20,"readmeContent":21,"aiSummary":22,"trendingCount":12,"starSnapshotCount":12,"syncStatus":23,"lastSyncTime":24,"discoverSource":25},78892,"lerobot-humanoid","Virgileboat\u002Flerobot-humanoid","Virgileboat",null,205,16,4,0,1,6,93,51.99,false,"main",[],"2026-06-12 04:01:24","# LeRobot Humanoid Workspace\n\nThis workspace groups the full LeRobot humanoid project in one place, from design to deployment:\n\n- mechanical\u002Fcontrol co-design\n- hardware build assets\n- robot model assets\n- runtime and deployment stack\n- simulation-based identification\n\nEach folder below is an independent Git repository with its own history\u002Fremotes.\n\n## Project Aim\n\nBuild an open and practical **low-cost humanoid robot** that people can reproduce.\n\nCurrent design targets:\n\n- **Cost target:** less than **USD 5,000** for the hardware (depending on sourcing, shipping, and taxes)\n- **Lightweight structure:** prioritize mass reduction and maintainability\n- **3D-printed first:** most custom mechanical parts are printable and documented\n- **Research-ready:** reproducible stack from CAD to runtime and identification\n\n## Repository Names\n\nLocal folder names are aligned with canonical `origin` repository names:\n\n- `lerobot-humanoid-design`\n- `lerobot-humanoid-hardware`\n- `lerobot-humanoid-identification`\n- `lerobot-humanoid-model`\n- `lerobot-humanoid-runtime`\n\n## Repository Map\n\n| Folder | Remote | Role | Main Outputs |\n|---|---|---|---|\n| `lerobot-humanoid-design` | `Virgileboat\u002Flerobot-humanoid-design` | Mechanical\u002Fcontrol co-design (URDF + optimization experiments) | Design vectors, URDF assumptions, feasibility studies |\n| `lerobot-humanoid-hardware` | `Virgileboat\u002Flerobot-humanoid-hardware` | Build documentation, BOM, STL exports, wiring, commissioning tooling | Printable parts, buy-list, assembly\u002Felectronics procedures |\n| `lerobot-humanoid-model` | `Virgileboat\u002Flerobot-humanoid-model` | Versioned model assets + Python helpers (`lerobot_humanoid_models`) | MJCF\u002FURDF assets and constants consumed by runtime\u002Fidentification |\n| `lerobot-humanoid-runtime` | `Virgileboat\u002Flerobot-humanoid-runtime` | Real robot + simulation runtime, calibration, policy execution, LeRobot integration | Deploy scripts, controllers, calibration flow, data acquisition |\n| `lerobot-humanoid-identification` | `Virgileboat\u002Flerobot-humanoid-identification` | MJWarp replay + CMA-ES parameter identification | Identified simulator parameters and run artifacts |\n\n## What Each Repo Is For\n\n- `lerobot-humanoid-design`:\n  Define robot geometry and control assumptions early, then test feasibility with optimization and OCP experiments before hardware decisions.\n- `lerobot-humanoid-hardware`:\n  Build the physical robot: BOM, STL files, print guidance, assembly steps, wiring, and motor commissioning.\n- `lerobot-humanoid-model`:\n  Provide shared robot model assets (`MJCF`\u002F`URDF`) and constants that other repos import.\n- `lerobot-humanoid-runtime`:\n  Make the robot move in simulation and on real hardware (controllers, calibration, policy execution, deployment flow).\n- `lerobot-humanoid-identification`:\n  Improve simulator realism by fitting parameters from real data with batched replay and CMA-ES.\n\n## How The Repos Connect\n\n1. `design` explores geometry\u002Fcontrol tradeoffs and defines feasible robot assumptions.\n2. `hardware` is the build source of truth (what is physically assembled).\n3. `model` packages robot descriptions (`MJCF`\u002F`URDF`) and constants for software stacks.\n4. `runtime` runs simulation and the real robot using calibrated models and policies.\n5. `identification` replays real logs to tune simulator parameters, feeding back into runtime\u002Fmodel\u002Fdesign.\n\n## Typical End-to-End Loop\n\n1. Update CAD\u002Fdesign assumptions (`design`, `hardware`).\n2. Export\u002Fupdate robot model assets (`model`).\n3. Validate calibration + policies in simulation\u002Frobot runtime (`runtime`).\n4. Collect logs and run joint-wise identification (`identification`).\n5. Push identified parameters back into runtime\u002Fmodel and iterate.\n\n## Quick Ops\n\nCheck state of every repo:\n\n```bash\nfor repo in lerobot-humanoid-*; do\n  echo \"=== $repo ===\"\n  git -C \"$repo\" status -sb\n  echo\n done\n```\n\nShow remotes for every repo:\n\n```bash\nfor repo in lerobot-humanoid-*; do\n  echo \"=== $repo ===\"\n  git -C \"$repo\" remote -v | head -n 2\n  echo\n done\n```\n","LeRobot Humanoid Workspace 是一个旨在构建低成本人形机器人的开源项目。该项目涵盖了从设计到部署的全过程，包括机械与控制协同设计、硬件构建资源、机器人模型资产、运行时和部署栈以及基于仿真的识别等核心功能。技术特点上，它强调通过3D打印实现大部分自定义机械部件的可制造性，并确保整个开发流程（从CAD设计到实际运行）具有良好的可复现性。适合于对成本敏感但又希望进行高级机器人研究或教学的场景使用，特别适用于那些需要高度定制化且预算有限的研究机构或个人爱好者。",2,"2026-06-11 03:57:17","CREATED_QUERY"]