Quick Start

python examples/scenes/generate_index.py

npm install
npm run dev

Features

• ONNX Model Inference
• Policy Switching
• Composable Observation

Known Issues

• The unitree_g1 model loading is not yet supported.
• The await new Promise(resolve => setTimeout(resolve, 10)); is used to wait align the simulation speed with wall clock time, which is not precise.
• The reloadPolicy function use wait until the inference is finished, should replace with thread lock.