tools/data_process/process/process_g1.py

import sys
sys.path.append('/mnt/shenzhen2cephfs/capybarali/codes/humanoid')

import torch, yaml, os
from tqdm import tqdm
from src.utils.rotation_conversions import quaternion_to_matrix, matrix_to_rotation_6d, matrix_to_axis_angle, rotation_6d_to_matrix, matrix_to_quaternion, axis_angle_to_matrix
import numpy as np
from argparse import ArgumentParser
import joblib
from data.vis import vis_3d_motion
from data.vis_g1 import vis_3d_g1
from copy import deepcopy
from scipy.spatial.transform import Rotation as R
from scipy.spatial.transform import Slerp
from scipy import interpolate
from joblib import Parallel, delayed

device = torch.device("cuda" if torch.cuda.is_available() else "cpu")

parser = ArgumentParser(description="Launch MoCap processing")
parser.add_argument('--save_root', type=str, default="data/gmr_data")
parser.add_argument('--start_idx', type=int, default=0)
parser.add_argument('--interval', type=int, default=1)
args = parser.parse_args()

os.makedirs(args.save_root, exist_ok=True)   

def extract_g1_component(x):
    vel_xy = x[:, :2]
    dof = x[:, -29:]
    root_rot_mat = rotation_6d_to_matrix(x[:, 2:8])
    trans_xyz = torch.cat([
        torch.cumsum(vel_xy[:, :1], dim=0),  # new_x = cumsum(Δnew_x)
        x[:, 9:10],                           # new_y = height (direct)
        torch.cumsum(vel_xy[:, 1:], dim=0),  # new_z = cumsum(Δnew_z)
    ], dim=1)

    rot_mat = torch.tensor([[1, 0, 0], [0, 0, -1], [0, 1, 0]]).float()
    global_orient_mat = root_rot_mat.squeeze(1).float()
    global_orient_mat = torch.einsum('ij,tjk->tik', rot_mat, global_orient_mat)
    rot_quat = matrix_to_quaternion(global_orient_mat)  # (T, 4) wxyz order

    transl = trans_xyz.float()
    transl = torch.einsum('ij,tj->ti', rot_mat, transl)

    return dof, rot_quat, transl

def interpolate_pos(pos, fps, target_fps, method='linear'):
    ''' 
    高性能版本，使用向量化操作
    pos: (T, ..., 3) 原始位置序列
    fps: int 原始帧率
    target_fps: int 目标帧率
    '''
    original_shape = pos.shape
    T = original_shape[0]
    
    total_time = T / fps
    t_original = np.linspace(0, total_time, T)
    target_T = int(np.ceil(total_time * target_fps))
    t_target = np.linspace(0, total_time, target_T)
    
    # 重塑数据为 (T, -1)
    flattened_pos = pos.reshape(T, -1)
    
    # 线性插值
    f = interpolate.interp1d(t_original, flattened_pos, axis=0,
                            kind='linear', bounds_error=False, 
                            fill_value='extrapolate')
    # 插值
    interpolated_flattened = f(t_target)
    
    # 恢复形状
    new_shape = list(original_shape)
    new_shape[0] = target_T
    interpolated_pos = interpolated_flattened.reshape(new_shape)
    
    return interpolated_pos

def interpolate_quat(quat, fps, target_fps):
    ''' 
    使用scipy内置函数的简化版本
    quat: (T, 4) 原始四元数序列，T为原始帧数，4为四元数维度
    fps: int 原始帧率
    target_fps: int 目标帧率
    '''
    
    T = quat.shape[0]
    total_time = T / fps
    
    # 原始时间点
    t_original = np.linspace(0, total_time, T)
    
    # 目标时间点
    target_T = int(np.ceil(total_time * target_fps))
    t_target = np.linspace(0, total_time, target_T)
    
    # 确保四元数是单位四元数
    quat_normalized = quat / np.linalg.norm(quat, axis=1, keepdims=True)
    
    # 创建旋转对象
    # https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.from_quat.html
    # scalar-first order – (w, x, y, z)
    rotations = R.from_quat(quat_normalized, scalar_first=True)
    
    # 创建Slerp插值器
    slerp = Slerp(t_original, rotations)
    
    # 在目标时间点进行插值
    rotations_interp = slerp(t_target)
    
    # 获取插值后的四元数
    quat_interp = rotations_interp.as_quat(scalar_first=True)
    return quat_interp

def get_g1_motion(data_path):
    g1_data = np.load(data_path)

    ori_fps = g1_data['fps']
    target_fps = 30
    dof = g1_data['joint_pos'] # T, 29
    root_ori = g1_data['body_quat_w'][:, 0] # T, 4, wxyz
    joints = g1_data['body_pos_w'] # T, J, 3

    # 插值
    dof = interpolate_pos(dof, ori_fps, target_fps)
    joints = interpolate_pos(joints, ori_fps, target_fps)
    global_orient = interpolate_quat(root_ori, ori_fps, target_fps) # wxyz
    rotation_matrix = torch.tensor([[1.0, 0, 0], [0, 0, -1], [0, 1, 0]]).inverse()

    global_orient_mat = quaternion_to_matrix(torch.from_numpy(global_orient)).float()
    global_orient_mat = torch.einsum('ij,tjk->tik', rotation_matrix, global_orient_mat)
    global_orient = matrix_to_axis_angle(global_orient_mat)
    position_data = torch.einsum('ij,tkj->tki', rotation_matrix, torch.from_numpy(joints).float())
    position_val_data = position_data[1:] - position_data[:-1]

    root_idx = 0
    # put on floor and put root on origin for the first frame
    ori = deepcopy(position_data[0, root_idx]) # first frame root position
    y_min = torch.min(position_data[:, :, 1])
    # ori[1] = y_min
    # position_data = position_data - ori
    velocities_root = position_data[1:, root_idx, :] - position_data[:-1, root_idx, :]
    position_data_cp = deepcopy(position_data)
    position_data[:,:,0] -= position_data_cp[:,0:1,0]
    position_data[:,:,2] -= position_data_cp[:,0:1,2]

    # vis_3d_g1([position_data.numpy()[:, 1:]], None, ['video.mp4'], fps=30)
    T, njoint, _ = position_data.shape
    final_x = torch.zeros((T, 2 + 6 + njoint * 3 + njoint * 3))
    final_x[1:, 0] = velocities_root[:, 0]
    final_x[1:, 1] = velocities_root[:, 2]
    final_x[:, 2:2+6] = matrix_to_rotation_6d(global_orient_mat)
    final_x[:, 8:8+njoint*3] = position_data.flatten(1, 2)
    final_x[1:, 8+njoint*3:8+njoint*6] = position_val_data.flatten(1, 2) # T, 140
    final_x = torch.concat([final_x, torch.from_numpy(dof).float()], dim=-1)
    # if final_x.shape[0] > 200:
    #     import ipdb; ipdb.set_trace()
    # dof, rot_quat, transl = extract_g1_component(final_x)
    # joblib.dump(dict(dof=dof, rot_quat=rot_quat, transl=transl), 'data.pkl')
    return final_x # 217

# python -m data.motionmillion.tools.process --save_root "data/motionmillion/final_data"

def func(line):
    data_path = line.strip()
    g1_motion = get_g1_motion(data_path)   
    data_path = data_path.replace('.npz', '.npy').replace('/mnt/shenzhen2cephfs/capybarali/codes/neobot/data/motionmillion/2_gmr_retarget_full/', '')
    save_path = args.save_root + '/' + data_path
    os.makedirs(os.path.dirname(save_path), exist_ok=True)
    np.save(save_path, g1_motion)

if __name__ == '__main__':
    with open('data/gmr_path.txt', 'r') as f:
        paths = f.readlines()
    Parallel(n_jobs=64)(delayed(func)(line) for line in tqdm(paths[args.start_idx::args.interval]))