├── Anyskill ├── dataset │ ├── __init__.py │ └── dataset.py ├── network │ ├── __init__.py │ └── evaluator.py ├── output │ └── finest.tar └── utils │ ├── __init__.py │ ├── parser.py │ └── utils.py ├── README.md ├── assets ├── model.png └── teaser.png ├── calm ├── __init__.py ├── data │ ├── assets │ │ ├── mjcf │ │ │ ├── amp_humanoid.xml │ │ │ ├── amp_humanoid_hand.xml │ │ │ ├── amp_humanoid_sword_shield.xml │ │ │ ├── block_projectile.urdf │ │ │ ├── block_projectile_large.urdf │ │ │ ├── chair.obj │ │ │ ├── chair.urdf │ │ │ ├── door.urdf │ │ │ ├── heading_marker.urdf │ │ │ ├── location_marker.urdf │ │ │ ├── pillar.urdf │ │ │ ├── sitting_marker.urdf │ │ │ ├── soccerball.mtl │ │ │ ├── soccerball.obj │ │ │ ├── soccerball.urdf │ │ │ └── strike_target.urdf │ │ └── shell.npy │ ├── cfg │ │ ├── humanoid (copy).yaml │ │ ├── humanoid.yaml │ │ ├── humanoid_anyskill.yaml │ │ ├── humanoid_calm_sword_shield_getup.yaml │ │ ├── humanoid_clip_location.yaml │ │ └── train │ │ │ └── rlg │ │ │ ├── amp_humanoid.yaml │ │ │ ├── amp_humanoid_task.yaml │ │ │ ├── calm_humanoid.yaml │ │ │ ├── gen_anyskill.yaml │ │ │ ├── scene_anyskill.yaml │ │ │ └── spec_anyskill.yaml │ ├── texts.yaml │ ├── texts_gen.yaml │ └── texts_scene.yaml ├── env │ └── tasks │ │ ├── __init__.py │ │ ├── base_task.py │ │ ├── humanoid.py │ │ ├── humanoid_amp.py │ │ ├── humanoid_amp_getup.py │ │ ├── humanoid_amp_task.py │ │ ├── humanoid_general_anyskill.py │ │ ├── humanoid_special_anyskill.py │ │ ├── humanoid_special_anyskill_articulated.py │ │ ├── humanoid_special_anyskill_rigid.py │ │ ├── humanoid_view_motion.py │ │ ├── vec_task.py │ │ └── vec_task_wrappers.py ├── learning │ ├── amp_agent.py │ ├── amp_datasets.py │ ├── amp_models.py │ ├── amp_network_builder.py │ ├── amp_players.py │ ├── anyskill_agent.py │ ├── anyskill_network_builder.py │ ├── anyskill_players.py │ ├── calm_agent.py │ ├── calm_models.py │ ├── calm_network_builder.py │ ├── calm_players.py │ ├── common_agent.py │ ├── common_player.py │ ├── hrl_models.py │ ├── replay_buffer.py │ ├── scene_anyskill_players.py │ ├── spec_anyskill_agent.py │ ├── spec_anyskill_network_builder.py │ └── spec_anyskill_players.py ├── poselib │ ├── README.md │ ├── data │ │ ├── 01_01_cmu.fbx │ │ ├── 07_01_cmu.fbx │ │ ├── 08_02_cmu.fbx │ │ ├── 09_11_cmu.fbx │ │ ├── 49_08_cmu.fbx │ │ ├── 55_01_cmu.fbx │ │ ├── amp_humanoid_tpose.npy │ │ ├── cmu_tpose.npy │ │ ├── configs │ │ │ ├── retarget_cmu_to_amp.json │ │ │ └── retarget_sfu_to_amp.json │ │ └── sfu_tpose.npy │ ├── 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 │ ├── seaborn.py │ ├── torch_utils.py │ └── vlip.py ├── motions └── motions_155.yaml └── requirements.txt /Anyskill/dataset/__init__.py: -------------------------------------------------------------------------------- 1 | # Anyskill 2 | -------------------------------------------------------------------------------- /Anyskill/dataset/dataset.py: 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