real-time imitation

[LiuYZ2024]

I want to use the feature of controlling the robot in PHC with real-time motion capture data. Could you please advise me on how to use it? I noticed that the imitation command mentioned in the README processes the entire .pkl file at once during execution. Which part of the code should I use to implement real-time processing of streaming motion input so that the robot can imitate actions in real time? I saw this functionality mentioned in the paper. I would greatly appreciate it if you could provide guidance.