> For the complete documentation index, see [llms.txt](https://doc.ancorasir.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://doc.ancorasir.com/2026spring/course-content-and-media-index.md).

# Course Content and Media Index

This index separates the material intended for course reading from bundled software and generated assets. Begin with each class `README.md`; follow implementation-specific documentation only when running the practical exercises.

### Lecture chapters and figures

<table><thead><tr><th width="89.75390625" align="center">Class</th><th>Chapter</th><th>Figures</th></tr></thead><tbody><tr><td align="center">01</td><td>Perspectives in Understanding Robots</td><td><code>C01_RobotPerspectives/images/</code></td></tr><tr><td align="center">02</td><td>The Need for Robot Description</td><td><code>C02_RobotDescription/images/</code></td></tr><tr><td align="center">03</td><td>MuJoCo for Robots</td><td><code>C03_MuJoCo/images/</code></td></tr><tr><td align="center">11</td><td>Humanoid Movement</td><td><code>C11_HumanoidMovement/images/</code></td></tr><tr><td align="center">12</td><td>Humanoid Contact</td><td><code>C12_HumanoidContact/images/</code></td></tr><tr><td align="center">13</td><td>Humanoid Control</td><td><code>C13_HumanoidControl/images/</code></td></tr><tr><td align="center">14</td><td>Humanoid Learning</td><td>Text chapter</td></tr></tbody></table>

### Interactive notebooks

<table><thead><tr><th width="90.359375" align="center">Class</th><th>Notebook</th><th>Purpose</th></tr></thead><tbody><tr><td align="center">04</td><td><code>teleop_asRoBallet_mujoco_asmagic.ipynb</code></td><td>Teleoperate asRoBallet in MuJoCo using asMagic.</td></tr><tr><td align="center">06</td><td><code>g1_mujoco.ipynb</code></td><td>Load and inspect Unitree G1 MJCF variants.</td></tr><tr><td align="center">06</td><td><code>teleop_g1_mujoco_asmagic.ipynb</code></td><td>Drive G1 IK targets from phone pose data.</td></tr><tr><td align="center">06</td><td><code>teleop_g1_mujoco_asmagic_object.ipynb</code></td><td>Extend G1 teleoperation to an object-interaction scene.</td></tr><tr><td align="center">07</td><td><code>ZMP_g1.ipynb</code></td><td>Generate ZMP, CoM, foot, and kinematic walking trajectories.</td></tr><tr><td align="center">07</td><td><code>ZMP_preview_control.ipynb</code></td><td>Study preview control for ZMP tracking.</td></tr></tbody></table>

### Robot models and scenes

<table><thead><tr><th width="90.1640625" align="center">Class</th><th>Location</th><th>Contents</th></tr></thead><tbody><tr><td align="center">04</td><td><code>00-DVSI/asRoBallet/</code></td><td>asRoBallet MJCF, scene, meshes, and teleoperation notebook.</td></tr><tr><td align="center">06</td><td><code>01-KG-04-HumanoidBasics/unitree_g1/</code></td><td>Unitree G1 MJCF variants, scenes, meshes, and license.</td></tr></tbody></table>

### Bundled implementations

<table><thead><tr><th width="90.25" align="center">Class</th><th>Implementation</th><th>Course entry point</th><th>Upstream entry point</th></tr></thead><tbody><tr><td align="center">05</td><td>General Motion Retargeting</td><td>Class 05</td><td>GMR README</td></tr><tr><td align="center">08</td><td>OpenLoong Dynamic Control</td><td>Class 08</td><td>OpenLoong README</td></tr><tr><td align="center">09</td><td>Unitree RL Lab</td><td>Class 09</td><td>Unitree RL Lab README</td></tr><tr><td align="center">09</td><td>Unitree MuJoCo</td><td>Class 09</td><td>Unitree MuJoCo README</td></tr><tr><td align="center">09</td><td>Unitree SDK2</td><td>Class 09</td><td>C++ SDK README</td></tr><tr><td align="center">09</td><td>Unitree SDK2 Python</td><td>Class 09</td><td>Python SDK README</td></tr></tbody></table>

These implementations include their own assets, generated documentation, third-party dependencies, libraries, logs, or checkpoints. Those files are implementation data, not course-page media, and intentionally retain upstream-relative paths.

### Final-project media

| Stage                             | Video                   |
| --------------------------------- | ----------------------- |
| Human gesture recording           | `gesture-recording.mp4` |
| Motion recovery and visualization | `motion-capture.mp4`    |
| Humanoid retargeting              | `robot-retargeting.mp4` |

Read the final-project example for the interpretation and expected student deliverables.

### Content conventions

* Use `README.md` as the landing page for every course-facing directory.
* Store chapter figures in `images/` and use descriptive kebab-case filenames.
* Write meaningful alternative text for every figure.
* Store project demonstrations in `videos/` and link them with relative paths.
* Keep notebooks next to the code and model assets they run.
* Do not reorganize files inside a bundled implementation unless its build and documentation paths are updated and tested together.
* Use relative links for repository content so forks and local clones remain navigable.

***


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