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ProtoMotions

GitHub

ProtoMotions

GitHub

Table of Contents

Getting Started

Installation
Quick Start
Pre-trained Models
AMASS Data Preparation
PHUMA Data Preparation
SEED BVH Data Preparation (SOMA Skeleton)
SEED G1 CSV Data Preparation
Kimodo-Generated Motion Preparation

Tutorials

Tutorials
Code Tutorials (Progressive Series)
SMPL Training on AMASS
Retargeting SMPL motions with PyRoki
Domain Randomization & Sim2Sim
G1 Whole-Body Tracker: From Data to Real Robot
Adding a Custom Robot
Challenges

User Guide

Configuration System
Experiments
Evaluation components
GPC and PEFT
Metatron G1 Student
Native MaskedMimic Goals
IsaacLab 3 Migration Pin
Scalable Training with SLURM
Developer Tips

Robots

Robots

Demos

Metatron Browser Demo
G1 Racer
G1 Football

Key Concepts

Key Concepts
Architecture Overview
Core Abstractions
Environment Context
Partner-Resolved Contacts
Self-contact cost
PoseLib Toolkit
Simulator State

API Reference

API Reference

Community

ProtoMotions Changelog
Contributing

API Reference
protomotions.tests package

protomotions.tests package#

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protomotions.utils.torch_utils module

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Training and Evaluation Scripts

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