{"id":28225658,"url":"https://github.com/hybridrobotics/berkeley-humanoid-lite","last_synced_at":"2025-06-13T00:32:45.747Z","repository":{"id":289719900,"uuid":"950286225","full_name":"HybridRobotics/Berkeley-Humanoid-Lite","owner":"HybridRobotics","description":"Codebase for Berkeley Humanoid Lite","archived":false,"fork":false,"pushed_at":"2025-05-28T18:58:44.000Z","size":1416,"stargazers_count":521,"open_issues_count":3,"forks_count":64,"subscribers_count":18,"default_branch":"main","last_synced_at":"2025-05-28T20:05:32.232Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"https://lite.berkeley-humanoid.org/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/HybridRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-03-17T23:32:39.000Z","updated_at":"2025-05-28T19:04:21.000Z","dependencies_parsed_at":"2025-04-24T18:33:53.579Z","dependency_job_id":"86c91a7e-c393-4e13-b529-ecc35bb15b34","html_url":"https://github.com/HybridRobotics/Berkeley-Humanoid-Lite","commit_stats":null,"previous_names":["hybridrobotics/berkeley-humanoid-lite"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/HybridRobotics/Berkeley-Humanoid-Lite","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FBerkeley-Humanoid-Lite","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FBerkeley-Humanoid-Lite/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FBerkeley-Humanoid-Lite/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FBerkeley-Humanoid-Lite/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/HybridRobotics","download_url":"https://codeload.github.com/HybridRobotics/Berkeley-Humanoid-Lite/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FBerkeley-Humanoid-Lite/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":259555256,"owners_count":22875967,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-05-18T11:09:20.544Z","updated_at":"2025-06-13T00:32:45.738Z","avatar_url":"https://github.com/HybridRobotics.png","language":"Python","funding_links":[],"categories":["硬件_其他"],"sub_categories":["资源传输下载"],"readme":"# Berkeley Humanoid Lite\n\n[![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)\n[![License](https://img.shields.io/badge/license-MIT-yellow.svg)](https://opensource.org/license/mit)\n[![License](https://img.shields.io/badge/license-CC%20BY--SA%204.0-orange.svg)](https://creativecommons.org/licenses/by-sa/4.0/)\n\n**[Website](http://lite.berkeley-humanoid.org/)** | **[arXiv](https://arxiv.org/abs/2504.17249)** | **[Paper](https://lite.berkeley-humanoid.org/static/paper/demonstrating-berkeley-humanoid-lite.pdf)** | **[Video](https://youtu.be/dIdJGkMDFl4?si=SRD7HhQQbhM3JCRA)** | **[Documentation](https://berkeley-humanoid-lite.gitbook.io/berkeley-humanoid-lite-docs)** | **[Releases](https://berkeley-humanoid-lite.gitbook.io/docs/releases)**\n\n\nBerkeley Humanoid Lite is an open-source, sub-$5,000 humanoid robot featuring modular 3D-printed gearboxes and widely available components, designed to democratize and advance humanoid robotics research.\n\nThis project is built on the values of open-source, accessibility, and customization, and it's continuously evolving. We welcome your feedback, issues, and pull requests in GitHub or joining our Discord.\n\n## Overview\n\nThis repository is the workspace for the Berkeley Humanoid Lite project that contains everything we need, including policy training, sim2sim validation, real-world deployment, motion capture, and teleoperated manipulation controls.\n\nFunctionalities are organized into several submodules. We arrange the directory structure following the Isaac Lab convention, where each submodule can be installed as an extension:\n\n- `source/berkeley_humanoid_lite/` contains the IsaacLab environment and task definitions.\n\n- `source/berkeley_humanoid_lite_assets/` contains robot descriptions (URDF, MJCF, and USD) and the script to export these description files from Onshape project.\n\n- `source/berkeley_humanoid_lite_lowlevel/` contains the lowlevel code running on the real robot. Only contents inside this folder is required to deploy to the real robot.\n\nExcept a few edge cases, all the commands should be invoked from the root directory of this repository. The entry points of different flows are collected in the `scripts/` directory.\n\n\n## Getting Started\n\nPlease refer to our [Documentation]() to get started with software and hardware setup.\n\nThe latest release of CAD model and 3D print files can be accessed from the [Release]() page.\n\n\n## Contributing\n\nWe wholeheartedly welcome contributions from the community to make this robot platform more mature and useful for everyone. We appreciate any kind of contributions, including bug reports, feature requests, or code contributions.\n\nAlso, please reach out to us to tell us about your projects and how you are using this robot platform. We would love to feature your work on our website and social media.\n\n## License\n\nThe code in this repository is licensed under [MIT License](https://opensource.org/license/mit). See the [LICENSE](LICENSE) file for details.\n\nOther assets are under [Creative Commons Attribution-ShareAlike 4.0 International \u003cimg style=\"height:22px!important;margin-left:3px;vertical-align:text-bottom;\" src=\"https://mirrors.creativecommons.org/presskit/icons/cc.svg?ref=chooser-v1\" alt=\"\"\u003e\u003cimg style=\"height:22px!important;margin-left:3px;vertical-align:text-bottom;\" src=\"https://mirrors.creativecommons.org/presskit/icons/by.svg?ref=chooser-v1\" alt=\"\"\u003e\u003cimg style=\"height:22px!important;margin-left:3px;vertical-align:text-bottom;\" src=\"https://mirrors.creativecommons.org/presskit/icons/sa.svg?ref=chooser-v1\" alt=\"\"\u003e](https://creativecommons.org/licenses/by-sa/4.0).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fberkeley-humanoid-lite","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhybridrobotics%2Fberkeley-humanoid-lite","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fberkeley-humanoid-lite/lists"}