├── .gitignore ├── LICENSE-CC-BY-NC-4.0.md ├── README.md ├── hardware_code ├── damiao_mvp │ ├── SerialPort.h │ ├── damiao.h │ ├── test_damiao │ └── test_damiao.cpp ├── damiao_wrist.cpp ├── inspire_hand.cpp └── zed_odometry.py ├── images ├── H2O.gif ├── H2O.webm ├── OmniH2O.gif ├── OmniH2O.webm └── hardware.png ├── legged_gym ├── legged_gym │ ├── LICENSE │ ├── __init__.py │ ├── cfg │ │ ├── asset │ │ │ ├── asset_base.yaml │ │ │ └── asset_teleop.yaml │ │ ├── commands │ │ │ ├── commands_base.yaml │ │ │ └── commands_teleop.yaml │ │ ├── config_base.yaml │ │ ├── config_teleop.yaml │ │ ├── control │ │ │ ├── control_base.yaml │ │ │ └── control_teleop.yaml │ │ ├── domain_rand │ │ │ ├── domain_rand_base.yaml │ │ │ └── domain_rand_teleop.yaml │ │ ├── env │ │ │ ├── env_base.yaml │ │ │ └── env_teleop.yaml │ │ ├── init_state │ │ │ ├── init_state_base.yaml │ │ │ └── init_state_teleop.yaml │ │ ├── motion │ │ │ ├── motion_base.yaml │ │ │ ├── motion_full.yaml │ │ │ └── motion_teleop.yaml │ │ ├── noise │ │ │ ├── noise_base.yaml │ │ │ └── noise_teleop.yaml │ │ ├── normalization │ │ │ ├── normalization_base.yaml │ │ │ └── normalization_teleop.yaml │ │ ├── rewards │ │ │ ├── rewards_base.yaml │ │ │ └── rewards_teleop_omnih2o_teacher.yaml │ │ ├── sim │ │ │ ├── sim_base.yaml │ │ │ └── sim_teleop.yaml │ │ ├── terrain │ │ │ ├── terrain_base.yaml │ │ │ └── terrain_teleop.yaml │ │ ├── train │ │ │ ├── ppo_base.yaml │ │ │ ├── ppo_pulse.yaml │ │ │ └── ppo_teleop.yaml │ │ └── viewer │ │ │ └── viewer_base.yaml │ ├── envs │ │ ├── __init__.py │ │ ├── base │ │ │ ├── base_config.py │ │ │ ├── base_task.py │ │ │ ├── legged_robot.py │ │ │ ├── legged_robot_config.py │ │ │ └── lpf.py │ │ └── h1 │ │ │ └── h1_teleop_config.py │ ├── scripts │ │ ├── play.py │ │ ├── play_hydra.py │ │ ├── train.py │ │ └── train_hydra.py │ └── utils │ │ ├── __init__.py │ │ ├── helpers.py │ │ ├── isaacgym_utils.py │ │ ├── joystick.py │ │ ├── logger.py │ │ ├── math.py │ │ ├── task_registry.py │ │ ├── terrain.py │ │ └── transform.py ├── resources │ ├── actuator_nets │ │ └── anydrive_v3_lstm.pt │ ├── motions │ │ └── h1 │ │ │ └── stable_punch.pkl │ ├── objects │ │ ├── Cone │ │ │ ├── meshes │ │ │ │ └── construction_cone.dae │ │ │ └── model.urdf │ │ ├── DiningChair │ │ │ └── model.urdf │ │ ├── FoldChair │ │ │ ├── mesh │ │ │ │ └── foldable_chair.dae │ │ │ └── model.urdf │ │ ├── Human │ │ │ ├── meshes │ │ │ │ └── casual_female.dae │ │ │ └── model.urdf │ │ ├── Marker │ │ │ └── traj_marker.urdf │ │ ├── Oaktree │ │ │ ├── meshes │ │ │ │ └── oak_tree.dae │ │ │ └── model.urdf │ │ ├── OfficeChair │ │ │ └── model.urdf │ │ ├── Vase │ │ │ ├── meshes │ │ │ │ └── Pot02.dae │ │ │ └── model.urdf │ │ ├── cylindar.urdf │ │ └── cylindar_35.urdf │ └── robots │ │ ├── go2 │ │ ├── dae │ │ │ ├── base.dae │ │ │ ├── calf.dae │ │ │ ├── calf_mirror.dae │ │ │ ├── foot.dae │ │ │ ├── hip.dae │ │ │ ├── thigh.dae │ │ │ └── thigh_mirror.dae │ │ └── urdf │ │ │ └── go2.urdf │ │ └── h1 │ │ ├── meshes │ │ ├── left_ankle_link.STL │ │ ├── left_elbow_link.STL │ │ ├── left_hip_pitch_link.STL │ │ ├── left_hip_roll_link.STL │ │ ├── left_hip_yaw_link.STL │ │ ├── left_knee_link.STL │ │ ├── left_shoulder_pitch_link.STL │ │ ├── left_shoulder_roll_link.STL │ │ ├── left_shoulder_yaw_link.STL │ │ ├── logo_link.STL │ │ ├── pelvis.STL │ │ ├── right_ankle_link.STL │ │ ├── right_elbow_link.STL │ │ ├── right_hip_pitch_link.STL │ │ ├── right_hip_roll_link.STL │ │ ├── right_hip_yaw_link.STL │ │ ├── right_knee_link.STL │ │ ├── right_shoulder_pitch_link.STL │ │ ├── right_shoulder_roll_link.STL │ │ ├── right_shoulder_yaw_link.STL │ │ └── torso_link.STL │ │ ├── urdf │ │ ├── h1.urdf │ │ ├── h1 │ │ │ └── h1.usd │ │ ├── h1_fix_arm.urdf │ │ ├── h1_single_arm.urdf │ │ ├── h1_torso_shoulder_pitch_track.urdf │ │ └── h1_torso_track.urdf │ │ └── xml │ │ └── h1.xml └── setup.py ├── phc ├── phc │ ├── __init__.py │ ├── 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 │ │ ├── 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 │ │ ├── smpl_eval.py │ │ ├── smpl_local_robot.py │ │ ├── smpl_mujoco.py │ │ └── smpl_parser.py │ └── utils │ │ ├── __init__.py │ │ ├── benchmarking.py │ │ ├── config.py │ │ ├── data_tree.py │ │ ├── draw_utils.py │ │ ├── flags.py │ │ ├── logger.py │ │ ├── motion_lib_base.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 │ │ ├── torch_h1_humanoid_batch.py │ │ ├── torch_utils.py │ │ ├── traj_generator.py │ │ ├── transform_utils.py │ │ └── uhc_transform_utils.py └── setup.py ├── requirements.txt ├── resources ├── actuator_nets │ └── anydrive_v3_lstm.pt ├── objects │ ├── Cone │ │ ├── meshes │ │ │ └── construction_cone.dae │ │ └── model.urdf │ ├── DiningChair │ │ └── model.urdf │ ├── FoldChair │ │ ├── mesh │ │ │ └── foldable_chair.dae │ │ └── model.urdf │ ├── Human │ │ ├── meshes │ │ │ └── casual_female.dae │ │ └── model.urdf │ ├── Oaktree │ │ ├── meshes │ │ │ └── oak_tree.dae │ │ └── model.urdf │ ├── OfficeChair │ │ └── model.urdf │ ├── Vase │ │ ├── meshes │ │ │ └── Pot02.dae │ │ └── model.urdf │ ├── cylindar.urdf │ └── cylindar_35.urdf └── robots │ └── h1 │ ├── h1.xml │ ├── h1_orig.xml │ ├── meshes │ ├── left_ankle_link.STL │ ├── left_elbow_link.STL │ ├── left_hip_pitch_link.STL │ ├── left_hip_roll_link.STL │ ├── left_hip_yaw_link.STL │ ├── left_knee_link.STL │ ├── left_shoulder_pitch_link.STL │ ├── left_shoulder_roll_link.STL │ ├── left_shoulder_yaw_link.STL │ ├── logo_link.STL │ ├── pelvis.STL │ ├── right_ankle_link.STL │ ├── right_elbow_link.STL │ ├── right_hip_pitch_link.STL │ ├── right_hip_roll_link.STL │ ├── right_hip_yaw_link.STL │ ├── right_knee_link.STL │ ├── right_shoulder_pitch_link.STL │ ├── right_shoulder_roll_link.STL │ ├── right_shoulder_yaw_link.STL │ └── torso_link.STL │ └── urdf │ ├── h1.urdf │ ├── h1 │ └── h1.usd │ ├── h1_fix_arm.urdf │ └── h1_orig.urdf ├── rsl_rl ├── .gitignore ├── LICENSE ├── README.md ├── licenses │ └── dependencies │ │ ├── numpy_license.txt │ │ └── torch_license.txt ├── rsl_rl │ ├── __init__.py │ ├── algorithms │ │ ├── __init__.py │ │ ├── ppo.py │ │ └── ppo_lagrangian.py │ ├── env │ │ ├── __init__.py │ │ └── vec_env.py │ ├── modules │ │ ├── __init__.py │ │ ├── actor_critic.py │ │ ├── actor_critic_cost.py │ │ ├── actor_critic_pulse.py │ │ ├── actor_critic_recurrent.py │ │ └── velocity_estimator.py │ ├── runners │ │ ├── __init__.py │ │ ├── on_policy_runner.py │ │ └── on_policy_runner_cost.py │ ├── storage │ │ ├── __init__.py │ │ ├── rollout_storage.py │ │ └── rollout_storage_extend.py │ └── utils │ │ ├── __init__.py │ │ └── 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_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 └── forward_pmcp.py ├── quest_camera.py ├── render_smpl_o3d.py ├── vis ├── joint_monkey.py ├── vis_motion.py ├── vis_motion_dir.py ├── vis_smpl_o3d.py ├── vis_smpl_o3d_ego.py 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