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different robot models, we hope to pro This open-source project includes the following: 1. **Retargeted Motions**: Motion files retargeted from AMASS to various robot models. + - **FFTAI GRMini1T2**: - - **Unitree G1**: + The retargeted motions for the FFTAI GRMini1T2 robot are generated based on the official open-source model: - The retargeted motions for the Unitree G1 robot are generated based on the official open-source model provided by Unitree. - - https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_lock_waist_rev_1_0.xml - - The joint positions comply with the constraints defined in the XML file. - - data shape：[-1,36] - - ​ 0:3 root world position - - ​ 3:7 root quaternion rotation, order: xyzw - - ​ 7:36 joint positions - - joint order: - - ```txt - left_hip_pitch_joint - left_hip_roll_joint - left_hip_yaw_joint - left_knee_joint - left_ankle_pitch_joint - left_ankle_roll_joint - right_hip_pitch_joint - right_hip_roll_joint - right_hip_yaw_joint - right_knee_joint - right_ankle_pitch_joint - right_ankle_roll_joint - waist_yaw_joint - waist_roll_joint - waist_pitch_joint - left_shoulder_pitch_joint - left_shoulder_roll_joint - left_shoulder_yaw_joint - left_elbow_joint - left_wrist_roll_joint - left_wrist_pitch_joint - left_wrist_yaw_joint - right_shoulder_pitch_joint - right_shoulder_roll_joint - right_shoulder_yaw_joint - right_elbow_joint - right_wrist_roll_joint - right_wrist_pitch_joint - right_wrist_yaw_joint - ``` - - **bxirobotics elf2**: - - The retargeted motions for the bxirobotics elf2 robot are generated based on the official open-source model: - - https://github.com/bxirobotics/robot_models/tree/main/elf2_dof25 + https://github.com/FFTAI/Wiki-GRx-Models The joint positions is not limited, you should limit them during use. - data shape：[-1,36] + data shape：[-1,30] ​ 0:3 root world position ​ 3:7 root quaternion rotation, order: xyzw - ​ 7:32 joint positions + ​ 7:30 joint positions joint order: ```txt - l_hip_z_joint, - l_hip_x_joint, - l_hip_y_joint, - l_knee_y_joint, - l_ankle_y_joint, - l_ankle_x_joint, - r_hip_z_joint, - r_hip_x_joint, - r_hip_y_joint, - r_knee_y_joint, - r_ankle_y_joint, - r_ankle_x_joint, - waist_z_joint, - waist_x_joint, - waist_y_joint, - l_shld_y_joint, - l_shld_x_joint, - l_shld_z_joint, - l_elb_y_joint, - l_elb_z_joint, - r_shld_y_joint, - r_shld_x_joint, - r_shld_z_joint, - r_elb_y_joint, - r_elb_z_joint + left_hip_pitch_joint + left_hip_roll_joint + left_hip_yaw_joint + left_knee_pitch_joint + left_ankle_roll_joint + left_ankle_pitch_joint + right_hip_pitch_joint + right_hip_roll_joint + right_hip_yaw_joint + right_knee_pitch_joint + right_ankle_roll_joint + right_ankle_pitch_joint + waist_yaw_joint + left_shoulder_pitch_joint + left_shoulder_roll_joint + left_shoulder_yaw_joint + left_elbow_pitch_joint + left_wrist_yaw_joint, + right_shoulder_pitch_joint + right_shoulder_roll_joint + right_shoulder_yaw_joint + right_elbow_pitch_joint + right_wrist_yaw_joint ``` - - **Others**: Future Updates - - - 2. **Usage Examples**: Code examples and tutorials on how to use the retargeted data. - ./g1/visualize.py + ./visualize.py - 3. **License Files**: Original license information for each sub-dataset within AMASS. - ## License diff --git a/visualize.py b/visualize.py new file mode 100644 index 0000000000000000000000000000000000000000..83e47122761853fc774157012c3cbd33a924f295 --- /dev/null +++ b/visualize.py @@ -0,0 +1,42 @@ +import numpy as np +import time +import mujoco +import mujoco.viewer + + +def mj_play(data, fr): + m = mujoco.MjModel.from_xml_path('/path/of/robot.xml') + m.opt.timestep = 1.0/fr + d = mujoco.MjData(m) + + len = data.shape[0] + step = 0 + + with mujoco.viewer.launch_passive(m, d, show_left_ui=False, show_right_ui=False) as viewer: + while viewer.is_running() and step 0: + time.sleep(time_until_next_step) + +def read_rtj(fpath): + #get frame rate from file name + fr = fpath[-12:-9] + fr = int(fr[1:]) if fr[0]=='_' else int(fr) + + jpos = np.load(fpath) + jpos[:,2] += 0.65 + return jpos,fr + +if __name__ == '__main__': + jpos, fr = read_rtj('/path/of/retargeted/amass/data.npy') + mj_play(jpos, fr)