zita-ch/supermimic_vibed

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Path	What
`IsaacLab/`	Isaac Lab `main` @ 46d6cc3 (VERSION 3.0.0), unmodified — cloned by `tools/setup.sh`, not tracked
`docker/`	`Dockerfile`: `supermimic:latest` = `isaac-lab-kitless:main-46d6cc3` (built from `IsaacLab/docker/Dockerfile.kitless`) + tmux, ffmpeg, gcc (for `torch.compile`); `run_container.sh`
`data/`	not tracked; `tools/download_data.sh` fetches LAFAN1 G1 retargets (HF `lvhaidong/LAFAN1_Retargeting_Dataset`) and the G1 URDF/meshes, then builds `g1_29dof.xml` (MJCF) and the USD
`supermimic/`	implementation (see below)
`tools/`	setup, asset conversion, tests, benchmark, plotting, rendering, failure analysis
`logs/<run>/`	not tracked: `train_log.csv`, `eval.csv`, checkpoints, stdout
`results/`	success curve and highlight GIF (full videos are rendered locally with `tools/render.py`)

What	Source	License	Goes to
40 LAFAN1 clips retargeted to the 29-DoF G1 (30 fps CSV: root pos, root quat xyzw, 29 joint angles)	HF `lvhaidong/LAFAN1_Retargeting_Dataset`, folder `g1/`	CC BY-NC-ND 4.0 (Ubisoft La Forge)	`data/lafan1_g1/*.csv`
G1 description `g1_29dof_rev_1_0.urdf` + meshes (the model the clips were retargeted to)	same dataset, folder `robot_description/g1/`	BSD-3-Clause (Unitree)	`data/g1_description/`

SuperMimic reproduction on Isaac Lab 3 (kit-less, MuJoCo-Warp)