YaojieShen/hhtools_parc_ms

hhtools PARC MS — terrain-aware humanoid motion clips

中文说明

Motion clips in PARC MS layout for human-humanoid-tools (hhtools): per-clip folders with a PARC MSFileData pickle and a static terrain mesh. Suitable for meshmimic / interaction-mesh retargeting (parkour, climbing, box traversal, etc.).

Clips	26,396
Total size	~10.8 GB
Skeleton	15-bone PARC humanoid (humanoid.xml topology)
Terrain	Heightfield + Wavefront OBJ per clip
Source	Converted from PARC dec_release MS pickles

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Directory layout

Each clip is a self-contained folder (OMOMO-style):

<clip_name>/
  <clip_name>.pkl              # PARC MSFileData: motion_data + terrain_data
  <clip_name>_terrain.obj      # static terrain mesh (Wavefront OBJ)

Example:

beyond_dash_vault_001_aug001_dm/
  beyond_dash_vault_001_aug001_dm.pkl
  beyond_dash_vault_001_aug001_dm_terrain.obj

A manifest.json at the repo root records the batch conversion from dec_release (26,577 source files → 26,396 successful clips).

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Pickle format

Each .pkl is a PARC MS container with pickled inner blobs:

Key	Content
motion_data	Root translation/rotation + per-joint rotations (root_pos, root_rot, joint_rot, …)
terrain_data	Terrain heightfield used for grounding / interaction mesh
misc_data	Optional metadata (may be absent)

Poses are expressed on the 15-bone PARC humanoid (pelvis → torso/head/arms/hands/legs/feet). Joint order matches PARC humanoid.xml DFS body order; joint_rot has shape (T, 14, 4).

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Download

# Hugging Face CLI
hf download YaojieShen/hhtools_parc_ms --repo-type dataset --local-dir ./parc_ms

Or with Python:

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="YaojieShen/hhtools_parc_ms",
    repo_type="dataset",
    local_dir="./parc_ms",
)

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Usage with hhtools

hhtools loads this layout via the built-in parc_ms dataset adapter:

git clone https://github.com/jaggerShen/human-humanoid-tools.git
cd human-humanoid-tools
uv sync --extra all
uv run hhtools web

In the Web UI, point the motion library at the downloaded folder. Clips appear under dataset parc_ms; retarget with interaction mesh (MPC-SQP) to preserve foot–terrain contact.

Programmatic load:

from pathlib import Path
from hhtools.io.datasets.parc_ms import ParcMsAdapter

adapter = ParcMsAdapter(root=Path("./parc_ms"))
clip_id = next(adapter.list_sequences())
motion = adapter.load_motion(clip_id)
print(motion.positions.shape, motion.terrain is not None)

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Motion categories (approximate)

Clip names reflect the upstream PARC dec_release batches, including:

• Parkour / traversal — beyond_*, climbing_*, running_*, strides_*
• Box / obstacle interaction — boxes_*, BOXES_*
• Platform / terrain variants — platform_*, *_dm, *_flipped_*, *_aug*
• Teaser / demo scenes — teaser_*, dec2024_*

Many clips are augmented or mirrored variants of base motions.

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Provenance & license

• Upstream method & data: PARC — Physics-based Augmentation with Reinforcement learning for Character control · GitHub
• This release: MS pickles from PARC dec_release, reorganized into hhtools-compatible parc_ms clip folders with terrain OBJ sidecars.
• License: Apache-2.0 (same as human-humanoid-tools).

Please cite PARC when using the motions in research, and hhtools if you use this packaging or the retargeting toolchain.

@article{shoe2025parc,
  title   = {PARC: Physics-based Augmentation with Reinforcement learning for Character control},
  author  = {Shoe, Michael and others},
  journal = {arXiv preprint arXiv:2505.04002},
  year    = {2025}
}

@software{human_humanoid_tools2026,
  title   = {human-humanoid-tools (hhtools): humanoid motion retargeting and dataset analysis},
  author  = {jaggerShen and hhtools contributors},
  year    = {2026},
  url     = {https://github.com/jaggerShen/human-humanoid-tools},
  license = {Apache-2.0}
}

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中文说明

本仓库提供 PARC MS 格式的地形交互人体动作片段，可直接用于 human-humanoid-tools (hhtools) 的 meshmimic / 交互网格重定向。

数据概览

项目	数值
片段数	26,396
总大小	约 10.8 GB
骨骼	15 骨 PARC 人形（与 PARC humanoid.xml 一致）
地形	每个 clip 含 heightfield（pkl 内）+ OBJ 网格

目录结构

<clip_name>/
  <clip_name>.pkl              # 动作 + 地形（PARC MSFileData）
  <clip_name>_terrain.obj      # 静态地形网格

下载

hf download YaojieShen/hhtools_parc_ms --repo-type dataset --local-dir ./parc_ms

在 hhtools 中使用

下载后启动 Web UI，将动作库路径指向 parc_ms 文件夹即可；数据集类型选择 **parc_ms**，使用交互网格重定向保留脚–地形接触。

来源与引用

数据源自 PARC 项目的 dec_release MS pickle，经批量转换为本仓库的 per-clip 文件夹布局。使用请注明 PARC 论文及 hhtools 工具链（见上方 BibTeX）。

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Contact

Issues about loading / retargeting: human-humanoid-tools Issues

Dataset hosting: YaojieShen/hhtools_parc_ms