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OmniBotSeries-Tinker

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Building a high-performance bipedal robot that combines Pixar and Disney BDX

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# OmniBotSeries-Tinker
Building a high-performance bipedal robot that combines Pixar and Disney BDX！
<table>
  <tr>
    <td> <img src="https://github.com/golaced/OmniBotSeries-Tinker/blob/main/Home_Image/1.png" alt="1" width="300px" ></td>
    <td> <img src="https://github.com/golaced/OmniBotSeries-Tinker/blob/main/Home_Image/2.png" alt="2" width="300px" ></td>
    <td> <img src="https://github.com/golaced/OmniBotSeries-Tinker/blob/main/Home_Image/3.jpg" alt="3" width="300px" ></td>
   </tr> 
</table>

In this project, we combined Pixar's lamp robot and Disney's BDX robot to build a 60cm high-performance Tinker bipedal robot.</br>
The entire robot uses a brushless motor, runs a reinforcement learning algorithm and comes with an open source tutorial. The cost of the whole machine is less than 15,000 RMB!</br>
This project will update the latest information in real time in the Feishu link below[https://hcn64ij2s2xr.feishu.cn/wiki/AZJxwlvEpiWnRrkeBbGc21U9n7f]</br>
Detail intro:</br>
https://www.bilibili.com/video/BV1FRZoY1ExW/?spm_id_from=333.337.search-card.all.click

# State of sim2real
The gait of TinkerV2 version is highly consistent with the BDX effect !

https://private-user-images.githubusercontent.com/16828431/430457828-f0ea37f3-0f17-4512-8b72-3c25d8892571.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDM3ODMxNjQsIm5iZiI6MTc0Mzc4Mjg2NCwicGF0aCI6Ii8xNjgyODQzMS80MzA0NTc4MjgtZjBlYTM3ZjMtMGYxNy00NTEyLThiNzItM2MyNWQ4ODkyNTcxLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTA0MDQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwNDA0VDE2MDc0NFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTdmNzQ2OTBmOWRhNmQyMzI5NmViYWIyNDIyNjVmM2M5YTVhMGVlYzlhMmNlMDU1NzNkMWM1YjYxODQ4OWIwMTYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.qmf0L0zIKwlTQJSXWiywr1p4hXOW-nzPU4sdOK5LAhQ

https://private-user-images.githubusercontent.com/16828431/430457885-5fd6a661-4399-4f3d-8686-e99e13dff1be.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDM3ODMxNjQsIm5iZiI6MTc0Mzc4Mjg2NCwicGF0aCI6Ii8xNjgyODQzMS80MzA0NTc4ODUtNWZkNmE2NjEtNDM5OS00ZjNkLTg2ODYtZTk5ZTEzZGZmMWJlLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTA0MDQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwNDA0VDE2MDc0NFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWJjOWIzMjBlMmQ3MDJjYjJkZTdlOWFhZmQ0OGU3NzU0MzI1ODRiOWRmY2NjZWFkMjUwNjYxYmFlNThmOTY5NmUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.MVlJK7VAP7XI22lxy7mg0DW2KEQ_tOTj9H8t4jal5_I

# Updates
> Update 2025/4/5: You can try two policies we trained : Update TinkerV2 first release version.

# CAD
https://private-user-images.githubusercontent.com/16828431/430457786-0a5316d1-bd46-40a6-932d-3f43c3e6b83e.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDM3ODMzNzUsIm5iZiI6MTc0Mzc4MzA3NSwicGF0aCI6Ii8xNjgyODQzMS80MzA0NTc3ODYtMGE1MzE2ZDEtYmQ0Ni00MGE2LTkzMmQtM2Y0M2MzZTZiODNlLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTA0MDQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwNDA0VDE2MTExNVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTk3OTVlMWM5NjJmNzA2M2M2NTIxNzQxNTBlMDc0Zjg2ZTMwMmM1NjhlZjc3YzBkNTYzYTk3YTdkY2Q2ZjIzNjMmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.8Z5d7ga20yFIBkBnhm_UFgYnPaq4_8kAawa9LYxHZxU

See [this document](https://hcn64ij2s2xr.feishu.cn/wiki/DPWDwNWaZiGNvpkbRrGcBXCHn7d) for getting from the CAD design of Tinker.

# PCB
https://private-user-images.githubusercontent.com/16828431/430457807-14ccab23-9aa0-415d-9c31-68c5db94b0f6.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDM3ODMzNzUsIm5iZiI6MTc0Mzc4MzA3NSwicGF0aCI6Ii8xNjgyODQzMS80MzA0NTc4MDctMTRjY2FiMjMtOWFhMC00MTVkLTljMzEtNjhjNWRiOTRiMGY2Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTA0MDQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwNDA0VDE2MTExNVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTBkYmJhZmZkOGU3ZTUwNjUxNWM4MzVjMmNiNDMwZmU3MjkzZWM1NDM2YjMxZDI3MjMyMGUzNWViMWI4NWE0ODUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.4Y7-XNhekliZ-s66rt1jizERRYiHeXziS0FMooMcGNs

See [this document](https://hcn64ij2s2xr.feishu.cn/wiki/DPWDwNWaZiGNvpkbRrGcBXCHn7d) for getting from the PCB design of Tinker.

# RL stuff
We are switching to IsaccGym, see this [repo](https://hcn64ij2s2xr.feishu.cn/wiki/LJxZwgL1diHB8ykKU1acFnXknOf)

https://private-user-images.githubusercontent.com/16828431/430457843-6a1d952e-9353-46ef-b826-be9859c01c90.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDM3ODMzNzUsIm5iZiI6MTc0Mzc4MzA3NSwicGF0aCI6Ii8xNjgyODQzMS80MzA0NTc4NDMtNmExZDk1MmUtOTM1My00NmVmLWI4MjYtYmU5ODU5YzAxYzkwLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTA0MDQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwNDA0VDE2MTExNVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTE0NWU4M2QxOTQyODcxMTQxNzc2ZDhjZDJmZGU1NjBmYjIzNjNkNmEzZjA1NjMxN2E0NzI1Mzk4OTkxMWRlNTQmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.wk5ubarLqInyvjcnZrRHXww9NV6vCCCY2rWJYM-af8g

https://private-user-images.githubusercontent.com/16828431/430457815-24d15ffc-5014-4805-8926-c6f4ba6477bd.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDM3ODMzNzUsIm5iZiI6MTc0Mzc4MzA3NSwicGF0aCI6Ii8xNjgyODQzMS80MzA0NTc4MTUtMjRkMTVmZmMtNTAxNC00ODA1LTg5MjYtYzZmNGJhNjQ3N2JkLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTA0MDQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwNDA0VDE2MTExNVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTY5MTAzNjhlOTc4YTk0NzM2M2U4MGNjZmMyYTYxN2YxMmViN2JlNjkyNjg1OWJiMTJhNDZhYjZhMjBlNDA2OTgmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.SaQb4qTOjEwPbx6NZJDbGEVEJKxcmj7U5ZOCLptut9A

## AI xiaozhi with LLM
Robots can install Xiaozhi AI modules to implement large language model functions !

https://private-user-images.githubusercontent.com/16828431/430457854-93e3f5cd-dadc-4843-8eb6-a85532883e98.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3NDM3ODMzNzUsIm5iZiI6MTc0Mzc4MzA3NSwicGF0aCI6Ii8xNjgyODQzMS80MzA0NTc4NTQtOTNlM2Y1Y2QtZGFkYy00ODQzLThlYjYtYTg1NTMyODgzZTk4Lm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNTA0MDQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjUwNDA0VDE2MTExNVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWRiZWQ1ZmExY2YwODVjY2U2YjlmM2NkOTgxNWY4MzllOWU0MTg3ZDBkZDY2OThhMzI1MjU2NGZiOGEwNTQ3NmMmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.Z_wdJMmWVT8CPfuAU2pqEVvPkfM4aJw3BO6DRO5SLc4

See [this repo](https://github.com/78/xiaozhi-esp32)

# BOM
You can get the BOM list at the link below.
https://hcn64ij2s2xr.feishu.cn/wiki/DPWDwNWaZiGNvpkbRrGcBXCHn7d
# Build Guide
The following is an overview of the robot project.
https://hcn64ij2s2xr.feishu.cn/wiki/AZJxwlvEpiWnRrkeBbGc21U9n7f
## Assembly Guide
The following link is an introduction to the overall project assembly of the robot.
https://hcn64ij2s2xr.feishu.cn/wiki/FqmXwnRYliwYFbkXCO7csSHWnfh
# Software Guide
This repo contains the software to run the policies of TVM on the onboard computer (Odroid C4) https://hcn64ij2s2xr.feishu.cn/wiki/MJ25wew9PijvXlkIoH7cZ9e4nCh
# Training your own policies
If you want to train your own policies, see [this document](https://hcn64ij2s2xr.feishu.cn/wiki/LJxZwgL1diHB8ykKU1acFnXknOf)

OmniBotSeries-Tinker

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