| | --- |
| | license: cc-by-4.0 |
| | task_categories: |
| | - robotics |
| | - reinforcement-learning |
| | language: |
| | - en |
| | tags: |
| | - AMASS |
| | - Retarget |
| | - Robotics |
| | - Humanoid |
| | size_categories: |
| | - 10K<n<100K |
| | --- |
| | # Retargeted AMASS for Robotics |
| |
|
| | ## Project Overview |
| |
|
| | This project aims to retarget motion data from the AMASS dataset to various robot models and open-source the retargeted data to facilitate research and applications in robotics and human-robot interaction. AMASS (Archive of Motion Capture as Surface Shapes) is a high-quality human motion capture dataset, and the SMPL-X model is a powerful tool for generating realistic human motion data. |
| |
|
| | By adapting the motion data from AMASS to different robot models, we hope to provide a more diverse and accessible motion dataset for robot training and human-robot interaction. |
| |
|
| | ## Dataset Content |
| |
|
| | This open-source project includes the following: |
| | 1. **Retargeted Motions**: Motion files retargeted from AMASS to various robot models. |
| | - **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 |
| | |
| | The joint positions is not limited, you should limit them during use. |
| | |
| | data shape：[-1,32] |
| | |
| | 0:3 root world position |
| | |
| | 3:7 root quaternion rotation, order: xyzw |
| | |
| | 7:32 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 |
| | ``` |
| | |
| | |
| | |
| | 2. **Usage Examples**: Code examples and tutorials on how to use the retargeted data. |
| |
|
| | ./visualize.py |
| |
|
| | |
| |
|
| | 3. **License Files**: Original license information for each sub-dataset within AMASS. |
| |
|
| | |
| |
|
| | ## License |
| |
|
| | The retargeted data in this project is derived from the AMASS dataset and therefore adheres to the original license terms of AMASS. Each sub-dataset within AMASS may have different licenses, so please ensure compliance with the following requirements when using the data: |
| | - **Propagate Original Licenses**: When using or distributing the retargeted data, you must include and comply with the original licenses of the sub-datasets within AMASS. |
| | - **Attribution Requirements**: Properly cite this work and the original authors and sources of the AMASS dataset and its sub-datasets. |
| |
|
| | For detailed license information, please refer to the `LICENSE` file in this project. |
| |
|
| |
|
| |
|
| | ## Acknowledgments |
| |
|
| | This project is built on the AMASS dataset and the SMPL-X model. Special thanks to the research team at the Max Planck Institute for Intelligent Systems for providing this valuable resource. |
| |
|
| | ## Citation |
| |
|
| | If you use the data or code from this project, please cite this work and relevant papers for AMASS and SMPL-X: |
| | ```bibtex |
| | @misc{Retargeted_AMASS_R, |
| | title={Retargeted AMASS for Robotics}, |
| | author={Kun Zhao}, |
| | url={https://huggingface.co/datasets/fleaven/Retargeted_AMASS_for_robotics} |
| | } |
| | |
| | @inproceedings{AMASS2019, |
| | title={AMASS: Archive of Motion Capture as Surface Shapes}, |
| | author={Mahmood, Naureen and Ghorbani, Nima and Troje, Nikolaus F. and Pons-Moll, Gerard and Black, Michael J.}, |
| | booktitle={International Conference on Computer Vision (ICCV)}, |
| | year={2019} |
| | } |
| | |
| | @inproceedings{SMPL-X2019, |
| | title={Expressive Body Capture: 3D Hands, Face, and Body from a Single Image}, |
| | author={Pavlakos, Georgios and Choutas, Vasileios and Ghorbani, Nima and Bolkart, Timo and Osman, Ahmed A. A. and Tzionas, Dimitrios and Black, Michael J.}, |
| | booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, |
| | year={2019} |
| | } |
| | ``` |
| |
|
| | ## Contact |
| |
|
| | For any questions or suggestions, please contact: |
| | - **Kun Zhao**: fleaven@hotmail.com |
