├── LICENSE ├── README.md ├── phc ├── phc.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ └── top_level.txt ├── phc │ ├── __init__.py │ ├── __pycache__ │ │ └── __init__.cpython-38.pyc │ ├── data │ │ ├── assets │ │ │ ├── mesh │ │ │ │ └── smpl │ │ │ │ │ └── 1c00fde5-abea-4340-b528-921965f3a020 │ │ │ │ │ └── geom │ │ │ │ │ ├── Chest.stl │ │ │ │ │ ├── Head.stl │ │ │ │ │ ├── L_Ankle.stl │ │ │ │ │ ├── L_Elbow.stl │ │ │ │ │ ├── L_Hand.stl │ │ │ │ │ ├── L_Hip.stl │ │ │ │ │ ├── L_Knee.stl │ │ │ │ │ ├── L_Shoulder.stl │ │ │ │ │ ├── L_Thorax.stl │ │ │ │ │ ├── L_Toe.stl │ │ │ │ │ ├── L_Wrist.stl │ │ │ │ │ ├── Neck.stl │ │ │ │ │ ├── Pelvis.stl │ │ │ │ │ ├── R_Ankle.stl │ │ │ │ │ ├── R_Elbow.stl │ │ │ │ │ ├── R_Hand.stl │ │ │ │ │ ├── R_Hip.stl │ │ │ │ │ ├── R_Knee.stl │ │ │ │ │ ├── R_Shoulder.stl │ │ │ │ │ ├── R_Thorax.stl │ │ │ │ │ ├── R_Toe.stl │ │ │ │ │ ├── R_Wrist.stl │ │ │ │ │ ├── Spine.stl │ │ │ │ │ └── Torso.stl │ │ │ └── mjcf │ │ │ │ ├── ball_medium.urdf │ │ │ │ ├── block_projectile.urdf │ │ │ │ ├── block_projectile_large.urdf │ │ │ │ ├── capsule.urdf │ │ │ │ ├── heading_marker.urdf │ │ │ │ ├── humanoid_template_local.xml │ │ │ │ ├── location_marker.urdf │ │ │ │ ├── mesh_humanoid.xml │ │ │ │ ├── smpl_humanoid.xml │ │ │ │ ├── smpl_humanoid_1.xml │ │ │ │ └── traj_marker.urdf │ │ └── cfg │ │ │ ├── env │ │ │ ├── h1_im_1.yaml │ │ │ ├── h1_im_2.yaml │ │ │ ├── h1_im_3.yaml │ │ │ ├── h1_im_4.yaml │ │ │ ├── phc_kp_mcp_iccv.yaml │ │ │ ├── phc_kp_pnn_iccv.yaml │ │ │ ├── phc_prim_iccv.yaml │ │ │ ├── phc_shape_mcp_iccv.yaml │ │ │ ├── phc_shape_pnn_iccv.yaml │ │ │ └── phc_shape_pnn_train_iccv.yaml │ │ │ └── learning │ │ │ ├── im.yaml │ │ │ ├── im_mcp.yaml │ │ │ ├── im_pnn.yaml │ │ │ ├── task_amp_big.yaml │ │ │ └── task_no_amp_big.yaml │ ├── env │ │ ├── __init__.py │ │ ├── tasks │ │ │ ├── __init__.py │ │ │ ├── base_task.py │ │ │ ├── humanoid.py │ │ │ ├── humanoid_amp.py │ │ │ ├── humanoid_amp_getup.py │ │ │ ├── humanoid_amp_task.py │ │ │ ├── humanoid_im.py │ │ │ ├── humanoid_im_demo.py │ │ │ ├── humanoid_im_getup.py │ │ │ ├── humanoid_im_mcp.py │ │ │ ├── humanoid_im_mcp_demo.py │ │ │ ├── humanoid_im_mcp_getup.py │ │ │ ├── humanoid_speed.py │ │ │ ├── vec_task.py │ │ │ └── vec_task_wrappers.py │ │ └── util │ │ │ ├── gym_util.py │ │ │ └── traj_generator.py │ ├── learning │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── loss_functions.cpython-38.pyc │ │ │ ├── network_builder.cpython-38.pyc │ │ │ ├── network_loader.cpython-38.pyc │ │ │ ├── pnn.cpython-38.pyc │ │ │ └── vq_quantizer.cpython-38.pyc │ │ ├── amp_agent.py │ │ ├── amp_datasets.py │ │ ├── amp_models.py │ │ ├── amp_network_builder.py │ │ ├── amp_network_mcp_builder.py │ │ ├── amp_network_pnn_builder.py │ │ ├── amp_players.py │ │ ├── ar_prior.py │ │ ├── common_agent.py │ │ ├── common_player.py │ │ ├── im_amp.py │ │ ├── im_amp_players.py │ │ ├── loss_functions.py │ │ ├── network_builder.py │ │ ├── network_loader.py │ │ ├── pnn.py │ │ ├── replay_buffer.py │ │ ├── running_norm.py │ │ ├── transformer.py │ │ ├── transformer_layers.py │ │ ├── unrealego │ │ │ ├── __init__.py │ │ │ ├── base_model.py │ │ │ ├── egoglass_model.py │ │ │ ├── models.py │ │ │ ├── network.py │ │ │ ├── network_debug.py │ │ │ ├── unrealego_autoencoder_model.py │ │ │ └── unrealego_heatmap_shared_model.py │ │ └── vq_quantizer.py │ ├── run.py │ ├── smpllib │ │ ├── __pycache__ │ │ │ ├── smpl_eval.cpython-38.pyc │ │ │ └── smpl_parser.cpython-38.pyc │ │ ├── smpl_eval.py │ │ ├── smpl_local_robot.py │ │ ├── smpl_mujoco.py │ │ └── smpl_parser.py │ └── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── flags.cpython-38.pyc │ │ ├── motion_lib_base.cpython-38.pyc │ │ ├── motion_lib_g1.cpython-38.pyc │ │ ├── motion_lib_h1.cpython-38.pyc │ │ ├── pytorch3d_transforms.cpython-38.pyc │ │ ├── rotation_conversions.cpython-38.pyc │ │ ├── torch_g1_humanoid_batch.cpython-38.pyc │ │ ├── torch_h1_humanoid_batch.cpython-38.pyc │ │ └── torch_utils.cpython-38.pyc │ │ ├── benchmarking.py │ │ ├── config.py │ │ ├── data_tree.py │ │ ├── draw_utils.py │ │ ├── flags.py │ │ ├── logger.py │ │ ├── motion_lib_base.py │ │ ├── motion_lib_g1.py │ │ ├── motion_lib_h1.py │ │ ├── motion_lib_smpl.py │ │ ├── o3d_utils.py │ │ ├── parse_task.py │ │ ├── plot_script.py │ │ ├── pytorch3d_transforms.py │ │ ├── rotation_conversions.py │ │ ├── running_mean_std.py │ │ ├── test_motion_file.py │ │ ├── torch_g1_humanoid_batch.py │ │ ├── torch_h1_humanoid_batch.py │ │ ├── torch_utils.py │ │ ├── traj_generator.py │ │ ├── transform_utils.py │ │ └── uhc_transform_utils.py └── setup.py └── scripts ├── .ipynb_checkpoints └── render_smpl_o3d-checkpoint.py ├── data_process ├── convert_amass_isaac.py ├── convert_data_mdm.py ├── convert_data_smpl.py ├── grad_fit_g1.py ├── grad_fit_g1_shape.py ├── grad_fit_h1.py ├── grad_fit_h1_shape.py ├── process_amass_db.py └── process_amass_raw.py ├── joint_monkey_h1.py ├── joint_monkey_smpl.py ├── mdm_test.py ├── mjcf_to_urdf.py ├── pmcp └── 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