├── .gitignore ├── LICENSE ├── README.md ├── motion_lib ├── config │ └── cfg_example.yaml ├── motion_item │ └── Boxing.npy └── motion_lib_retarget.py ├── requirements.txt ├── retarget_g1 ├── betas_param │ ├── betas_r5_smpl_g1_neu.npy │ ├── betas_r5_smpl_g1_neu2.npy │ └── betas_r5_smplh_g1_neu.npy ├── human_body_prior │ ├── __init__.py │ ├── body_model │ │ ├── __init__.py │ │ ├── body_model.py │ │ ├── lbs.py │ │ ├── parts_segm │ │ │ └── readme │ │ └── rigid_object_model.py │ ├── data │ │ ├── README.md │ │ ├── __init__.py │ │ ├── dataloader.py │ │ └── prepare_data.py │ ├── models │ │ ├── __init__.py │ │ ├── ik_engine.py │ │ ├── model_components.py │ │ └── vposer_model.py │ ├── tools │ │ ├── __init__.py │ │ ├── angle_continuous_repres.py │ │ ├── configurations.py │ │ ├── model_loader.py │ │ ├── omni_tools.py │ │ ├── rotation_tools.py │ │ └── tgm_conversion.py │ └── train │ │ ├── README.md │ │ ├── V02_05 │ │ ├── V02_05.py │ │ ├── V02_05.yaml │ │ └── __init__.py │ │ ├── __init__.py │ │ └── vposer_trainer.py ├── humanoid_model │ └── g1 │ │ ├── README.md │ │ ├── g1_12dof.urdf │ │ ├── g1_12dof.xml │ │ ├── g1_23dof.urdf │ │ ├── g1_23dof.xml │ │ ├── g1_23dof_rev_1_0.urdf │ │ ├── g1_23dof_rev_1_0.xml │ │ ├── g1_29dof.urdf │ │ ├── g1_29dof.xml │ │ ├── g1_29dof_kp_rev_1_0.xml │ │ ├── g1_29dof_lock_waist.urdf │ │ ├── g1_29dof_lock_waist.xml │ │ ├── g1_29dof_lock_waist_rev_1_0.urdf │ │ ├── g1_29dof_lock_waist_rev_1_0.xml │ │ ├── g1_29dof_rev_1_0.urdf │ │ ├── g1_29dof_rev_1_0.xml │ │ ├── g1_29dof_with_hand.urdf │ │ ├── g1_29dof_with_hand.xml │ │ ├── g1_29dof_with_hand_rev_1_0.urdf │ │ ├── g1_29dof_with_hand_rev_1_0.xml │ │ ├── g1_dual_arm.urdf │ │ ├── g1_dual_arm.xml │ │ ├── images │ │ ├── g1_23dof.png │ │ ├── g1_29dof.png │ │ ├── g1_29dof_with_hand.png │ │ └── g1_dual_arm.png │ │ ├── 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 │ │ └── scene.xml ├── load_keypoints_smplh.py ├── opt_betas_smpl_g1.py ├── opt_betas_smplh_g1.py ├── retarget_batch_smpl_g1.py ├── retarget_batch_smplh_g1.py ├── retarget_smpl_g1.py ├── test_data_structure.py ├── utils │ ├── torch_h1_humanoid_batch.py │ └── torch_utils.py ├── vis_result_batch_g1.py └── vis_result_g1.py └── retarget_h1_2 ├── betas_param ├── betas_param_r5_smpl.npy └── betas_param_r5_smplx.npy ├── humanoid_model ├── h1 │ ├── assets │ │ ├── L_hand_base_link.STL │ │ ├── Link11_L.STL │ │ ├── Link11_R.STL │ │ ├── Link12_L.STL │ │ ├── Link12_R.STL │ │ ├── Link13_L.STL │ │ ├── Link13_R.STL │ │ ├── Link14_L.STL │ │ ├── Link14_R.STL │ │ ├── Link15_L.STL │ │ ├── Link15_R.STL │ │ ├── Link16_L.STL │ │ ├── Link16_R.STL │ │ ├── Link17_L.STL │ │ ├── Link17_R.STL │ │ ├── Link18_L.STL │ │ ├── Link18_R.STL │ │ ├── Link19_L.STL │ │ ├── Link19_R.STL │ │ ├── Link20_L.STL │ │ ├── Link20_R.STL │ │ ├── Link21_L.STL │ │ ├── Link21_R.STL │ │ ├── Link22_L.STL │ │ ├── Link22_R.STL │ │ ├── R_hand_base_link.STL │ │ ├── left_ankle_link.STL │ │ ├── left_elbow_link.STL │ │ ├── left_elbow_link_ball_hand.STL │ │ ├── left_hand_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_elbow_link_ball_hand.STL │ │ ├── right_hand_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 │ ├── h1.xml │ ├── h1_mark_hand.xml │ ├── h1_mark_joint.xml │ └── scene.xml └── h1_2 │ ├── README.md │ ├── h1_2.urdf │ ├── h1_2.xml │ ├── h1_2_handless.xml │ ├── h1_2_handless_mark_keypoints.xml │ ├── h1_2_simplified.urdf │ ├── meshes │ ├── L_hand_base_link.STL │ ├── L_index_intermediate.STL │ ├── L_index_proximal.STL │ ├── L_middle_intermediate.STL │ ├── L_middle_proximal.STL │ ├── L_pinky_intermediate.STL │ ├── L_pinky_proximal.STL │ ├── L_ring_intermediate.STL │ ├── L_ring_proximal.STL │ ├── L_thumb_distal.STL │ ├── L_thumb_intermediate.STL │ ├── L_thumb_proximal.STL │ ├── L_thumb_proximal_base.STL │ ├── R_hand_base_link.STL │ ├── R_index_intermediate.STL │ ├── R_index_proximal.STL │ ├── R_middle_intermediate.STL │ ├── R_middle_proximal.STL │ ├── R_pinky_intermediate.STL │ ├── R_pinky_proximal.STL │ ├── R_ring_intermediate.STL │ ├── R_ring_proximal.STL │ ├── R_thumb_distal.STL │ ├── R_thumb_intermediate.STL │ ├── R_thumb_proximal.STL │ ├── R_thumb_proximal_base.STL │ ├── left_ankle_A_link.STL │ ├── left_ankle_A_rod_link.STL │ ├── left_ankle_B_link.STL │ ├── left_ankle_B_rod_link.STL │ ├── left_ankle_pitch_link.STL │ ├── left_ankle_roll_link.STL │ ├── left_elbow_pitch_link.STL │ ├── left_elbow_roll_link.STL │ ├── left_hand_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 │ ├── left_wrist_pitch_link.STL │ ├── link11_L.STL │ ├── link11_R.STL │ ├── link12_L.STL │ ├── link12_R.STL │ ├── link13_L.STL │ ├── link13_R.STL │ ├── link14_L.STL │ ├── link14_R.STL │ ├── link15_L.STL │ ├── link15_R.STL │ ├── link16_L.STL │ ├── link16_R.STL │ ├── link17_L.STL │ ├── link17_R.STL │ ├── link18_L.STL │ ├── link18_R.STL │ ├── link19_L.STL │ ├── link19_R.STL │ ├── link20_L.STL │ ├── link20_R.STL │ ├── link21_L.STL │ ├── link21_R.STL │ ├── link22_L.STL │ ├── link22_R.STL │ ├── logo_link.STL │ ├── pelvis.STL │ ├── right_ankle_A_link.STL │ ├── right_ankle_A_rod_link.STL │ ├── right_ankle_B_link.STL │ ├── right_ankle_B_rod_link.STL │ ├── right_ankle_link.STL │ ├── right_ankle_pitch_link.STL │ ├── right_ankle_roll_link.STL │ ├── right_elbow_pitch_link.STL │ ├── 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