API Reference

This section contains the complete API documentation for ProtoMotions.

Agents

• protomotions.agents package - RL agents (PPO, AMP, ASE, MaskedMimic)

Environments

• protomotions.envs package - Training environments (Mimic, Steering, etc.)

Simulator

• protomotions.simulator package - Physics simulator backends

Robot Configurations

• protomotions.robot_configs module - Robot definitions (SMPL, G1, H1)

Utilities

• protomotions.utils package - Helper utilities (MotionLib, etc.)

Training and Evaluation Scripts

• Training and Evaluation Scripts - Command-line scripts