| from general_motion_retargeting.optitrack_vendor.NatNetClient import setup_optitrack |
| from general_motion_retargeting import GeneralMotionRetargeting as GMR |
| from general_motion_retargeting import RobotMotionViewer |
| import threading |
| import argparse |
|
|
| def main(args): |
| |
| print("Make sure to disable firewall on both machines:") |
| print("On OptiTrack computer: Disable Windows Firewall") |
| print("On this computer: sudo ufw disable") |
|
|
| client = setup_optitrack( |
| server_address=args.server_ip, |
| client_address=args.client_ip, |
| use_multicast=args.use_multicast, |
| ) |
|
|
| |
| thread = threading.Thread(target=client.run) |
| thread.start() |
|
|
| if not client: |
| print("Failed to setup OptiTrack client") |
| exit(1) |
|
|
| print(f"OptiTrack client connected: {client.connected()}") |
| print("Starting motion retargeting...") |
|
|
| retarget = GMR( |
| src_human="fbx", |
| tgt_robot=args.robot, |
| actual_human_height=1.6, |
| ) |
| viewer = RobotMotionViewer(robot_type="unitree_g1") |
|
|
| while True: |
| frame = client.get_frame() |
| frame_number = client.get_frame_number() |
| qpos = retarget.retarget(frame) |
| viewer.step( |
| root_pos=qpos[:3], |
| root_rot=qpos[3:7], |
| dof_pos=qpos[7:], |
| rate_limit=False, |
| ) |
|
|
|
|
| if __name__ == "__main__": |
| parser = argparse.ArgumentParser() |
| parser.add_argument("--server_ip", type=str, default="192.168.200.160") |
| parser.add_argument("--client_ip", type=str, default="192.168.200.117") |
| parser.add_argument("--use_multicast", type=bool, default=False) |
| parser.add_argument("--robot", type=str, default="unitree_g1") |
| args = parser.parse_args() |
| main(args) |
| |
