code_weights_and_hardware_assets · 已核验官方资源
审核码：verified_official; 官方关系：verified_mit_main_source_cc_by_sa_assets_and_onnx_policies_with_unlicensed_lowlevel_submodule; 最近核验：2026-07-28代码：62 tracked main-repository entries plus pinned assets and low-level submodules
权重：six ONNX policies for biped/humanoid configurations
数据：no training dataset release; hardware CAD and meshes are a pinned CC BY-SA asset submodule
许可证：MIT_and_CC-BY-SA-4.0_with_gap；Main code is MIT and asset submodule is CC BY-SA 4.0; the pinned low-level submodule contains no license file at the reviewed commit.
依赖：Isaac Lab、MuJoCo、ONNX Runtime、Docker or uv、Pink/Pinocchio for teleoperation
硬件/传感器：3D printer with at least 200 mm cube volume、22 custom actuators、mini PC、USB-CAN、BNO085 IMU、6S LiPo、SteamVR optional
实机证据：US BOM $4,312, China BOM $3,236, 60-hour actuator test, 25 Hz locomotion and qualitative teleoperation.
独立复现：partial simulator ports only
限制/反面证据：Low-level submodule license missing；Thermal effects not studied；60-hour test is one actuator pattern；Community Gazebo/MuJoCo integration failures；No independent full hardware reproduction
当前建议：极低成本开放人形平台主流技术2.0·分模块验收；Build and test one actuator through thermal/load cycles, run ONNX in MuJoCo, then assemble a supported biped; record the low-level submodule license gap.
重点标签：low-cost-humanoid、code:verified、weights:verified、hardware:open、license:scoped
核验来源：来源 1 · 来源 2 · 来源 3 · 来源 4