├── .gitignore ├── .vscode └── settings.json ├── FAQ.md ├── README.md ├── active_adaptation ├── __init__.py ├── assets │ ├── __init__.py │ ├── base.py │ ├── default_environment.usd │ ├── g1.py │ ├── g1 │ │ ├── g1_29dof_nohand-feet_sphere-eef_L-body_capsule.usd │ │ ├── g1_29dof_nohand-feet_sphere.usd │ │ ├── g1_29dof_rubberhand-feet_box-eef_box-body_capsule.usd │ │ └── g1_29dof_rubberhand-feet_sphere-eef_box-body_capsule.usd │ ├── objects-old │ │ ├── ball │ │ │ ├── .thumbs │ │ │ │ └── 256x256 │ │ │ │ │ └── ball.usd.png │ │ │ ├── ball.usd │ │ │ └── ball_new.usd │ │ ├── box │ │ │ ├── box-collision_sphere.usd │ │ │ ├── box.usd │ │ │ └── box_new.usd │ │ ├── box_small │ │ │ └── box_small.usd │ │ ├── bread_box │ │ │ ├── bread_box.usd │ │ │ └── bread_box_new.usd │ │ ├── door │ │ │ ├── door.usd │ │ │ └── door_new.usd │ │ ├── foam │ │ │ ├── foam.usd │ │ │ └── foam_new.usd │ │ ├── foldchair │ │ │ ├── foldchair.usd │ │ │ └── foldchair_new.usd │ │ ├── objects │ │ │ ├── ball │ │ │ │ ├── .thumbs │ │ │ │ │ └── 256x256 │ │ │ │ │ │ └── ball.usd.png │ │ │ │ ├── ball.usd │ │ │ │ └── ball_new.usd │ │ │ ├── box │ │ │ │ ├── box-collision_sphere.usd │ │ │ │ ├── box.usd │ │ │ │ └── box_new.usd │ │ │ ├── box_small │ │ │ │ └── box_small.usd │ │ │ ├── bread_box │ │ │ │ ├── bread_box.usd │ │ │ │ └── bread_box_new.usd │ │ │ ├── door │ │ │ │ ├── door.usd │ │ │ │ └── door_new.usd │ │ │ ├── foam │ │ │ │ ├── foam.usd │ │ │ │ └── foam_new.usd │ │ │ ├── foldchair │ │ │ │ ├── foldchair.usd │ │ │ │ └── foldchair_new.usd │ │ │ ├── platform │ │ │ │ ├── platform0.usd │ │ │ │ ├── platform1.usd │ │ │ │ └── wall0.usd │ │ │ ├── stair │ │ │ │ ├── .thumbs │ │ │ │ │ └── 256x256 │ │ │ │ │ │ └── stair.usd.png │ │ │ │ ├── stair.usd │ │ │ │ └── stair_new.usd │ │ │ ├── stool │ │ │ │ ├── stool-low2.usd │ │ │ │ ├── stool.usd │ │ │ │ ├── stool_low-side_filled.usd │ │ │ │ ├── stool_low.usd │ │ │ │ ├── stool_new.usd │ │ │ │ └── stool_support.usd │ │ │ ├── suitcase │ │ │ │ ├── suitcase.usd │ │ │ │ └── suitcase_new.usd │ │ │ ├── support │ │ │ │ ├── support0.usd │ │ │ │ └── support1.usd │ │ │ └── wood_board │ │ │ │ ├── wood_board.usd │ │ │ │ └── wood_board_new.usd │ │ ├── platform │ │ │ ├── platform0.usd │ │ │ ├── platform1.usd │ │ │ └── wall0.usd │ │ ├── stair │ │ │ ├── .thumbs │ │ │ │ └── 256x256 │ │ │ │ │ └── stair.usd.png │ │ │ ├── stair.usd │ │ │ └── stair_new.usd │ │ ├── stool │ │ │ ├── stool-low2.usd │ │ │ ├── stool.usd │ │ │ ├── stool_low-side_filled.usd │ │ │ ├── stool_low.usd │ │ │ ├── stool_new.usd │ │ │ └── stool_support.usd │ │ ├── suitcase │ │ │ ├── suitcase.usd │ │ │ └── suitcase_new.usd │ │ ├── support │ │ │ ├── support0.usd │ │ │ └── support1.usd │ │ └── wood_board │ │ │ ├── wood_board.usd │ │ │ └── wood_board_new.usd │ ├── objects.py │ ├── objects │ │ ├── ball │ │ │ ├── .thumbs │ │ │ │ └── 256x256 │ │ │ │ │ └── ball.usd.png │ │ │ └── ball.usd │ │ ├── box │ │ │ ├── box-collision_sphere.usd │ │ │ └── box.usd │ │ ├── box_small │ │ │ └── box_small.usd │ │ ├── bread_box │ │ │ └── bread_box.usd │ │ ├── door │ │ │ └── door.usd │ │ ├── foam │ │ │ └── foam.usd │ │ ├── foldchair │ │ │ └── foldchair.usd │ │ ├── platform │ │ │ ├── platform0.usd │ │ │ ├── platform1.usd │ │ │ └── wall0.usd │ │ ├── stair │ │ │ ├── .thumbs │ │ │ │ └── 256x256 │ │ │ │ │ └── stair.usd.png │ │ │ └── stair.usd │ │ ├── stool │ │ │ ├── stool-low2.usd │ │ │ ├── stool.usd │ │ │ ├── stool_low-side_filled.usd │ │ │ ├── stool_low.usd │ │ │ └── stool_support.usd │ │ ├── suitcase │ │ │ └── suitcase.usd │ │ ├── support │ │ │ ├── support0.usd │ │ │ └── support1.usd │ │ └── wood_board │ │ │ └── wood_board.usd │ └── spawn.py ├── assets_mjcf │ ├── __init__.py │ ├── g1_29dof_nohand │ │ ├── g1_29dof_nohand-ball.xml │ │ ├── g1_29dof_nohand-box.xml │ │ ├── g1_29dof_nohand-bread_box.xml │ │ ├── g1_29dof_nohand-door.xml │ │ ├── g1_29dof_nohand-eef_L-box.xml │ │ ├── g1_29dof_nohand-foam.xml │ │ ├── g1_29dof_nohand-foldchair.xml │ │ ├── g1_29dof_nohand-lowstool.xml │ │ ├── g1_29dof_nohand-plasticbox.xml │ │ ├── g1_29dof_nohand-stair.xml │ │ ├── g1_29dof_nohand-stool-low.xml │ │ ├── g1_29dof_nohand-stool.xml │ │ ├── g1_29dof_nohand-suitcase-omomo.xml │ │ ├── g1_29dof_nohand-suitcase.xml │ │ ├── g1_29dof_nohand-trash_bin.xml │ │ ├── g1_29dof_nohand-wood_board.xml │ │ ├── g1_29dof_nohand.xml │ │ └── meshes │ │ │ ├── head_link.STL │ │ │ ├── left_ankle_pitch_link.STL │ │ │ ├── left_ankle_roll_link.STL │ │ │ ├── left_elbow_link.STL │ │ │ ├── left_hand_index_0_link.STL │ │ │ ├── left_hand_index_1_link.STL │ │ │ ├── left_hand_middle_0_link.STL │ │ │ ├── left_hand_middle_1_link.STL │ │ │ ├── left_hand_palm_link.STL │ │ │ ├── left_hand_thumb_0_link.STL │ │ │ ├── left_hand_thumb_1_link.STL │ │ │ ├── left_hand_thumb_2_link.STL │ │ │ ├── left_hip_pitch_link.STL │ │ │ ├── left_hip_roll_link.STL │ │ │ ├── left_hip_yaw_link.STL │ │ │ ├── left_knee_link.STL │ │ │ ├── left_rubber_hand.STL │ │ │ ├── left_shoulder_pitch_link.STL │ │ │ ├── left_shoulder_roll_link.STL │ │ │ ├── left_shoulder_yaw_link.STL │ │ │ ├── left_wrist_pitch_link.STL │ │ │ ├── left_wrist_roll_link.STL │ │ │ ├── left_wrist_roll_rubber_hand.STL │ │ │ ├── left_wrist_yaw_link.STL │ │ │ ├── logo_link.STL │ │ │ ├── pelvis.STL │ │ │ ├── pelvis_contour_link.STL │ │ │ ├── right_ankle_pitch_link.STL │ │ │ ├── right_ankle_roll_link.STL │ │ │ ├── right_elbow_link.STL │ │ │ ├── right_hand_index_0_link.STL │ │ │ ├── right_hand_index_1_link.STL │ │ │ ├── right_hand_middle_0_link.STL │ │ │ ├── right_hand_middle_1_link.STL │ │ │ ├── right_hand_palm_link.STL │ │ │ ├── right_hand_thumb_0_link.STL │ │ │ ├── right_hand_thumb_1_link.STL │ │ │ ├── right_hand_thumb_2_link.STL │ │ │ ├── right_hip_pitch_link.STL │ │ │ ├── right_hip_roll_link.STL │ │ │ ├── right_hip_yaw_link.STL │ │ │ ├── right_knee_link.STL │ │ │ ├── right_rubber_hand.STL │ │ │ ├── right_shoulder_pitch_link.STL │ │ │ ├── right_shoulder_roll_link.STL │ │ │ ├── right_shoulder_yaw_link.STL │ │ │ ├── right_wrist_pitch_link.STL │ │ │ ├── right_wrist_roll_link.STL │ │ │ ├── right_wrist_roll_rubber_hand.STL │ │ │ ├── right_wrist_yaw_link.STL │ │ │ ├── torso_constraint_L_link.STL │ │ │ ├── torso_constraint_L_rod_link.STL │ │ │ ├── torso_constraint_R_link.STL │ │ │ ├── torso_constraint_R_rod_link.STL │ │ │ ├── torso_link.STL │ │ │ ├── torso_link_23dof_rev_1_0.STL │ │ │ ├── torso_link_rev_1_0.STL │ │ │ ├── waist_constraint_L.STL │ │ │ ├── waist_constraint_R.STL │ │ │ ├── waist_roll_link.STL │ │ │ ├── waist_roll_link_rev_1_0.STL │ │ │ ├── waist_support_link.STL │ │ │ ├── waist_yaw_link.STL │ │ │ └── waist_yaw_link_rev_1_0.STL │ └── objects │ │ ├── ball │ │ ├── ball.xml │ │ ├── ball_t1.xml │ │ └── texture.png │ │ ├── box │ │ ├── box.xml │ │ └── box_t1.xml │ │ ├── bread_box │ │ └── bread_box.xml │ │ ├── door │ │ └── door.xml │ │ ├── foam │ │ └── foam.xml │ │ ├── foldchair │ │ ├── foldchair.xml │ │ └── foldchair_t1.xml │ │ ├── platform │ │ ├── platform0.xml │ │ ├── platform1.xml │ │ └── wall0.xml │ │ ├── stair │ │ └── stair.xml │ │ ├── stool │ │ ├── lowstool.xml │ │ ├── stool-low.urdf │ │ ├── stool-low.xml │ │ ├── stool.xml │ │ ├── stool_support.xml │ │ └── stool_t1.xml │ │ ├── suitcase │ │ ├── suitcase-simplified.xml │ │ ├── suitcase-simplified_t1.xml │ │ ├── suitcase.obj │ │ └── suitcase.xml │ │ ├── support │ │ ├── support0.xml │ │ └── support1.xml │ │ ├── trash_bin │ │ └── trash_bin.xml │ │ └── wood_board │ │ └── wood_board.xml ├── envs │ ├── README.md │ ├── __init__.py │ ├── base.py │ ├── humanoid.py │ ├── locomotion.py │ ├── mdp │ │ ├── __init__.py │ │ ├── action.py │ │ ├── addons.py │ │ ├── base.py │ │ ├── commands │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── hdmi │ │ │ │ ├── command.py │ │ │ │ ├── observations.py │ │ │ │ ├── randomizations.py │ │ │ │ ├── rewards.py │ │ │ │ └── terminations.py │ │ │ └── locomotion.py │ │ ├── observations │ │ │ ├── __init__.py │ │ │ ├── amp.py │ │ │ ├── common.py │ │ │ └── priv_body.py │ │ ├── randomizations.py │ │ ├── rewards │ │ │ ├── __init__.py │ │ │ ├── common.py │ │ │ └── feet.py │ │ ├── terminations.py │ │ └── utils │ │ │ └── forces.py │ ├── mujoco.py │ ├── scene.py │ ├── terrain │ │ ├── __init__.py │ │ ├── regular.py │ │ └── wrapper.py │ └── utils.py ├── learning │ ├── README.md │ ├── __init__.py │ ├── modules │ │ ├── distributions.py │ │ ├── ensemble.py │ │ ├── evidential.py │ │ ├── rnn.py │ │ └── temporal.py │ ├── ppo │ │ ├── __init__.py │ │ ├── common.py │ │ ├── critics.py │ │ ├── ppo.py │ │ ├── ppo_amp.py │ │ └── ppo_roa.py │ └── utils │ │ ├── amp_obs_buf.py │ │ ├── clip_grad.py │ │ ├── gae.py │ │ ├── replay_buffer.py │ │ ├── valuenorm.py │ │ └── vecnorm.py └── utils │ ├── __init__.py │ ├── debug.py │ ├── export.py │ ├── gamepad.py │ ├── helpers.py │ ├── liveplot.py │ ├── math.py │ ├── motion.py │ ├── spline.py │ ├── symmetry.py │ ├── torchrl.py │ └── wandb.py ├── cfg ├── algo │ ├── amp_omomo-lsgan.yaml │ ├── amp_walk-wgan.yaml │ └── hier.yaml ├── base │ ├── randomization_base.yaml │ └── sim_base.yaml ├── eval.yaml ├── play.yaml ├── render.yaml ├── task │ ├── G1 │ │ ├── hdmi │ │ │ ├── carry_and_place_bread_box.yaml │ │ │ ├── carry_box_over_shoulder.yaml │ │ │ ├── move_foam.yaml │ │ │ ├── move_stool-climb.yaml │ │ │ ├── move_suitcase.yaml │ │ │ ├── open_door-feet.yaml │ │ │ ├── open_foldchair-sit.yaml │ │ │ ├── push_box.yaml │ │ │ ├── push_door-hand.yaml │ │ │ ├── roll_ball-hand.yaml │ │ │ ├── topple_wood_board_and_cross.yaml │ │ │ ├── traverse_door.yaml │ │ │ └── truman.yaml │ │ └── tracking │ │ │ ├── carry_and_place_bread_box.yaml │ │ │ ├── dance.yaml │ │ │ ├── move-suitcase.yaml │ │ │ └── walk.yaml │ └── base │ │ ├── hdmi-base.yaml │ │ └── tracking-base.yaml ├── train.yaml └── train_sequential.yaml ├── data └── motion │ ├── data_for_sim │ ├── carry_and_place_bread_box-0829 │ │ ├── meta.json │ │ └── motion.npz │ ├── combo-2 │ │ ├── meta.json │ │ └── motion.npz │ ├── lift_box_over_shoulder │ │ ├── meta.json │ │ └── motion.npz │ ├── move_foam-climb-0825-2-0_580 │ │ ├── meta.json │ │ └── motion.npz │ ├── move_stool-climb-0814 │ │ ├── meta.json │ │ └── motion.npz │ ├── open_door-feet-0828 │ │ ├── meta.json │ │ └── motion.npz │ ├── push_door-hand-0828 │ │ ├── meta.json │ │ └── motion.npz │ ├── topple_wood_board_and_cross │ │ ├── meta.json │ │ └── motion.npz │ └── traverse_door │ │ ├── meta.json │ │ └── motion.npz │ ├── g1 │ ├── multi_motion_0726 │ │ ├── open_chair_and_sit_amass │ │ │ ├── meta.json │ │ │ └── motion.npz │ │ └── roll_ball_amass │ │ │ ├── meta.json │ │ │ └── motion.npz │ ├── omomo │ │ └── sub1_suitcase_011 │ │ │ ├── meta.json │ │ │ └── motion.npz │ ├── push_box │ │ └── push_box-VID_20250423_220958-light-high-adjust_root_height │ │ │ ├── meta.json │ │ │ └── motion.npz │ └── walk1_subject1-3_12 │ │ ├── meta.json │ │ └── motion.npz │ └── lafan │ └── dance1_subject2-270_1000 │ ├── meta.json │ └── motion.npz ├── record_motion └── x65r1823 │ ├── meta.json │ └── motion.npz ├── scripts ├── README.md ├── eval.py ├── eval_multiple.py ├── eval_run.py ├── helpers.py ├── play.py ├── render.py ├── scene.py ├── train.py ├── 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