LimX Oli
Collection
Models and tools for LimX Oli, the full-size general-purpose humanoid robot. • 2 items • Updated
中文说明
LimX Oli 全尺寸人形机器人（HU_D04_01，31 个关节）的强化学习策略，ONNX 格式，包括行走、动作模仿（挥手打招呼）、站立和阻尼控制器，可在 MuJoCo 仿真或真机上运行，配套部署代码为 humanoid-rl-deploy-python。文件原样同步自 GitHub，以 GitHub 仓库为准。
快速上手（仿真）
- 将 humanoid-mujoco-sim 和 humanoid-rl-deploy-python 克隆到同一目录（部署代码已包含这些策略）
- 安装 limxsdk-lowlevel 和 click
- 设置环境变量
ROBOT_TYPE=HU_D04_01 - 依次启动仿真器
simulator.py、部署程序main.py和手柄程序robot-joystick
遥控器按键：行走 R1 + X，动作模仿 L1 + B，站立 L1 + Y，阻尼 L1 + A。
下载全部策略：
hf download limxdynamics/oli-rl-policies --local-dir ./oli-rl-policies
国内用户也可以从魔搭下载：LimXDynamics/oli-rl-policies。
真机部署前请先在仿真中测试，确保有经过培训的操作人员在场，急停随手可及。
采购咨询与合作：opensource@limxdynamics.com
LimX Oli RL Policies
Reinforcement-learning policies in ONNX for the LimX Oli full-size humanoid (HU_D04_01, 31 joints), ready to run in MuJoCo or on the real robot with humanoid-rl-deploy-python.
These files are mirrored as-is from humanoid-rl-deploy-python. The GitHub repository is the source of truth.
What's included
| Controller | Remote buttons | Files |
|---|---|---|
| Walk | R1 + X | walk_controller/policy/default/policy.onnx, walk_controller/walk_param.yaml |
| Mimic (greeting motion) | L1 + B | mimic_controller/policy/default/policy.onnx, lin_encoder.onnx, priv_encoder.onnx, mimic_controller/mimic_param.yaml |
| Stand | L1 + Y | stand_controller/joint_params.yaml |
| Damping | L1 + A | damping_controller/joint_params.yaml |
HU_D04_01/controllers.yaml lists the controllers loaded by the deploy code.
Quick start (simulation)
Run on Linux x86_64 with humanoid-mujoco-sim and humanoid-rl-deploy-python in the same folder. The deploy repository already contains these policies.
pip install humanoid-mujoco-sim/limxsdk-lowlevel/python3/amd64/limxsdk-*.whl click
export ROBOT_TYPE=HU_D04_01
python humanoid-mujoco-sim/simulator.py # terminal 1
python humanoid-rl-deploy-python/main.py # terminal 2
humanoid-mujoco-sim/robot-joystick/robot-joystick # terminal 3
To download the policies from here instead:
hf download limxdynamics/oli-rl-policies --local-dir ./oli-rl-policies
To deploy your own walking policy, replace walk_controller/policy/default/policy.onnx. See the deploy repository for details.
Safety
These policies drive a physical robot. Test in simulation first, run with a trained operator present, and keep the emergency stop within reach.
Related
- Robot models (URDF / MJCF / USD): humanoid-description
- Simulator: humanoid-mujoco-sim
- ROS 1 / ROS 2 / C++ deployment: humanoid-rl-deploy-ros · humanoid-rl-deploy-ros2 · humanoid-rl-deploy-cpp
License
Apache 2.0, the same as humanoid-rl-deploy-python.
Contact
- Business inquiries and collaboration: opensource@limxdynamics.com
- Questions: open a discussion in the Community tab or an issue on GitHub
- More from LimX Dynamics: Hugging Face · GitHub · Website