├── .idea ├── .gitignore ├── GROVE.iml ├── inspectionProfiles │ ├── Project_Default.xml │ └── profiles_settings.xml ├── misc.xml ├── modules.xml └── vcs.xml ├── Anyskill ├── dataset │ ├── __init__.py │ └── dataset.py ├── network │ ├── __init__.py │ └── evaluator.py ├── output │ ├── fines_cost.tar │ ├── finest.tar │ ├── finest_-4.tar │ └── finest_-6.tar └── utils │ ├── __init__.py │ ├── parser.py │ └── utils.py ├── README.md ├── assets └── teaser.png ├── calm ├── __init__.py ├── data │ ├── assets │ │ ├── lv.fbx │ │ ├── lvpic.zip │ │ ├── mjcf │ │ │ └── amp_humanoid.xml │ │ └── shell.npy │ ├── cfg │ │ ├── humanoid.yaml │ │ └── train │ │ │ └── rlg │ │ │ ├── amp_humanoid.yaml │ │ │ ├── amp_humanoid_task.yaml │ │ │ ├── calm_humanoid.yaml │ │ │ └── spec_grove.yaml │ ├── motions │ │ ├── h_amp_humanoid_walk.npy │ │ ├── h_t_0005_SideSkip001.npy │ │ ├── h_t_0005_SlowTrot001.npy │ │ ├── h_t_0007_Balance001.npy │ │ ├── h_t_0008_ChaCha001.npy │ │ ├── h_t_0008_Skipping001.npy │ │ ├── h_t_0017_WushuKicks001.npy │ │ ├── h_t_0018_Bridge001.npy │ │ ├── h_t_0018_DanceTurns001.npy │ │ ├── h_t_0018_DanceTurns002.npy │ │ ├── h_t_0018_Moonwalk001.npy │ │ ├── h_t_0018_TraditionalChineseDance001.npy │ │ ├── h_t_005372_30fps_jump.npy │ │ ├── h_t_05_02_clipped.npy │ │ ├── h_t_05_07.npy │ │ ├── h_t_05_08_clipped.npy │ │ ├── h_t_06_10.npy │ │ ├── h_t_06_15.npy │ │ ├── h_t_10_01_clipped.npy │ │ ├── h_t_10_02.npy │ │ ├── h_t_13_17.npy │ │ ├── h_t_13_17_clipped_01.npy │ │ ├── h_t_13_17_clipped_02.npy │ │ ├── h_t_13_17_clipped_03.npy │ │ ├── h_t_13_17_clipped_04.npy │ │ ├── h_t_13_17_clipped_05.npy │ │ ├── h_t_13_17_clipped_06.npy │ │ ├── h_t_13_26_clipped_01.npy │ │ ├── h_t_13_26_clipped_02.npy │ │ ├── h_t_13_26_clipped_03.npy │ │ ├── h_t_13_29_clipped_01.npy │ │ ├── h_t_13_29_clipped_02.npy │ │ ├── h_t_13_29_clipped_03.npy │ │ ├── h_t_13_29_clipped_04.npy │ │ ├── h_t_13_29_clipped_05.npy │ │ ├── h_t_13_29_clipped_06.npy │ │ ├── h_t_13_29_clipped_07.npy │ │ ├── h_t_14_17.npy │ │ ├── h_t_14_17_clipped_01.npy │ │ ├── h_t_14_17_clipped_02.npy │ │ ├── h_t_14_25.npy │ │ ├── h_t_14_25_clipped_01.npy │ │ ├── h_t_14_25_clipped_02.npy │ │ ├── h_t_14_25_clipped_03.npy │ │ ├── h_t_14_25_clipped_04.npy │ │ ├── h_t_17_03.npy │ │ ├── h_t_17_05.npy │ │ ├── h_t_17_10_clipped_01.npy │ │ ├── h_t_17_10_clipped_02.npy │ │ ├── h_t_20_10.npy │ │ ├── h_t_20_13.npy │ │ ├── h_t_26_09.npy │ │ ├── h_t_26_10.npy │ │ ├── h_t_49_06.npy │ │ ├── h_t_49_20.npy │ │ ├── h_t_55_02_clipped.npy │ │ ├── h_t_64_29.npy │ │ ├── h_t_74_06.npy │ │ ├── h_t_75_06.npy │ │ ├── h_t_75_09.npy │ │ ├── h_t_79_02.npy │ │ ├── h_t_79_03.npy │ │ ├── h_t_79_04.npy │ │ ├── h_t_79_17.npy │ │ ├── h_t_Crawling.npy │ │ ├── h_t_Goalie_Throw_1.npy │ │ ├── h_t_Golf_Drive.npy │ │ ├── h_t_Illegal_Elbow_Punch.npy │ │ ├── h_t_Left_Turn.npy │ │ ├── h_t_Leg_Sweep.npy │ │ ├── h_t_Low_Crawl.npy │ │ ├── h_t_Mma_Kick.npy │ │ ├── h_t_RL_Avatar_Atk_Kick_Motion.npy │ │ ├── h_t_Running_Backward.npy │ │ ├── h_t_Walking_Backward.npy │ │ ├── h_t_Walking_Turn_180.npy │ │ ├── h_t_Zombie_Walk.npy │ │ ├── h_t_action_baseball.npy │ │ ├── h_t_action_pushup_clipped_02.npy │ │ ├── h_t_climb-on-sloping-trunk-loop-c.npy │ │ ├── h_t_crouch-walk-slow-loop.npy │ │ ├── h_t_interior_crawl.npy │ │ ├── h_t_jump-to-endurance_clipped_clipped.npy │ │ ├── h_t_jumprope_longrope_clipped_clipped.npy │ │ ├── h_t_jumprope_singlerope.npy │ │ ├── h_t_market_customerbasket_idle_m_clipped.npy │ │ ├── h_t_move_run_m_clipped.npy │ │ ├── h_t_move_walkfast_m_clipped.npy │ │ ├── h_t_right_turn.npy │ │ ├── h_t_stand-idle-to-crouch-idle.npy │ │ ├── h_t_walk_calling_m.npy │ │ ├── h_t_walk_normal_m.npy │ │ ├── h_t_walk_tiptoe.npy │ │ └── motions.yaml │ └── texts.yaml ├── poselib │ ├── README.md │ ├── data │ │ ├── amp_humanoid_tpose.npy │ │ └── configs │ │ │ ├── retarget_cmu_to_amp.json │ │ │ └── retarget_sfu_to_amp.json │ ├── fbx_importer.py │ ├── generate_amp_humanoid_tpose.py │ ├── mjcf_importer.py │ ├── poselib │ │ ├── __init__.py │ │ ├── core │ │ │ ├── __init__.py │ │ │ ├── backend │ │ │ │ ├── __init__.py │ │ │ │ ├── abstract.py │ │ │ │ └── logger.py │ │ │ ├── rotation3d.py │ │ │ ├── tensor_utils.py │ │ │ └── tests │ │ │ │ ├── __init__.py │ │ │ │ └── test_rotation.py │ │ ├── skeleton │ │ │ ├── __init__.py │ │ │ ├── backend │ │ │ │ ├── __init__.py │ │ │ │ └── fbx │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── fbx_backend.py │ │ │ │ │ └── fbx_read_wrapper.py │ │ │ └── skeleton3d.py │ │ └── visualization │ │ │ ├── __init__.py │ │ │ ├── common.py │ │ │ ├── core.py │ │ │ ├── plt_plotter.py │ │ │ ├── simple_plotter_tasks.py │ │ │ ├── skeleton_plotter_tasks.py │ │ │ └── tests │ │ │ ├── __init__.py │ │ │ └── test_plotter.py │ └── retarget_motion.py ├── run.py └── utils │ ├── Metaclip.py │ ├── __init__.py │ ├── anyskill.py │ ├── clip.py │ ├── clip_feature.py │ ├── config.py │ ├── device_dtype_mixin.py │ ├── gym_util.py │ ├── logger.py │ ├── motion_lib.py │ ├── motionlist.py │ ├── parse_task.py │ ├── rendered.py │ ├── seaborn.py │ ├── torch_utils.py 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