Standalone deployment bundle for Unitree G1 motion-tracking policies: the SONIC C++ runner, the Unitree SDK, a MuJoCo robot on the DDS bus to rehearse against, and two policies that differ only in the randomization they trained under
Fork of HansZ8/RoboJuDo adding ProtoMotions tracker deployment for the Unitree G1: reference-mode blending in the tracker policy, the unitree_cpp build patch, and a G1 deployment runbook. Check out integration/all.
Model-agnostic robot policy deployment with safety checks, dry-run, audit/replay, metrics and FastAPI.
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