File size: 4,118 Bytes
e0803b8 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 | #!/usr/bin/env python3
"""Convert one BONES-SEED Unitree G1 CSV file to Isaac-style NPZ format."""
from __future__ import annotations
import argparse
from pathlib import Path
import mujoco
import numpy as np
from converter_common import (
ISAAC_BODY_NAMES,
ISAAC_JOINT_NAMES,
MT_JOINT_NAMES,
body_angular_velocity_wxyz,
ensure_output_parent,
finite_difference,
interpolate_linear,
interpolate_quaternions,
load_csv_motion,
load_g1_model,
output_frame_count,
require_body_id,
validate_fps,
)
def convert_csv_to_isaac(
csv_path: str | Path,
output_path: str | Path,
g1_xml: str | Path,
source_fps: int = 120,
target_fps: int = 50,
verbose: bool = True,
) -> Path:
"""Convert a single CSV motion to Isaac format and return the output path."""
validate_fps(source_fps, target_fps)
root_pos, root_rot_xyzw, dof_pos_mt = load_csv_motion(csv_path)
model = load_g1_model(str(Path(g1_xml).expanduser().resolve()))
model_data = mujoco.MjData(model)
body_ids = {}
for body_name in ISAAC_BODY_NAMES:
source_name = "pelvis" if body_name == "pelvis_contour_link" else body_name
body_ids[body_name] = require_body_id(model, source_name)
mt_indices = np.asarray(
[MT_JOINT_NAMES.index(name) for name in ISAAC_JOINT_NAMES],
dtype=np.int64,
)
joint_pos = dof_pos_mt[:, mt_indices]
body_pos_w = np.zeros(
(len(root_pos), len(ISAAC_BODY_NAMES), 3), dtype=np.float32
)
body_quat_w = np.zeros(
(len(root_pos), len(ISAAC_BODY_NAMES), 4), dtype=np.float32
)
for frame in range(len(root_pos)):
model_data.qpos[:3] = root_pos[frame]
model_data.qpos[3:7] = root_rot_xyzw[frame, [3, 0, 1, 2]]
model_data.qpos[7:] = dof_pos_mt[frame]
mujoco.mj_forward(model, model_data)
for output_index, body_name in enumerate(ISAAC_BODY_NAMES):
body_id = body_ids[body_name]
body_pos_w[frame, output_index] = model_data.xpos[body_id]
body_quat_w[frame, output_index] = model_data.xquat[body_id]
target_frames = output_frame_count(
len(root_pos), source_fps, target_fps
)
joint_pos = interpolate_linear(joint_pos, target_frames)
body_pos_w = interpolate_linear(body_pos_w, target_frames)
body_quat_w = interpolate_quaternions(body_quat_w, target_frames)
joint_vel = finite_difference(joint_pos, target_fps)
body_lin_vel_w = finite_difference(body_pos_w, target_fps)
body_ang_vel_w = body_angular_velocity_wxyz(
body_quat_w, target_fps
)
output_path = ensure_output_parent(output_path)
np.savez(
output_path,
fps=np.asarray([target_fps], dtype=np.int64),
joint_pos=joint_pos.astype(np.float32),
joint_vel=joint_vel.astype(np.float32),
body_pos_w=body_pos_w.astype(np.float32),
body_quat_w=body_quat_w.astype(np.float32),
body_lin_vel_w=body_lin_vel_w.astype(np.float32),
body_ang_vel_w=body_ang_vel_w.astype(np.float32),
)
if verbose:
print(
f"Saved Isaac: {output_path} "
f"({len(joint_pos)} frames @ {target_fps} fps)"
)
return output_path
def parse_args() -> argparse.Namespace:
parser = argparse.ArgumentParser(
description="Convert one BONES-SEED G1 CSV motion to Isaac NPZ"
)
parser.add_argument("--input", required=True, help="Input G1 CSV file")
parser.add_argument(
"--output", required=True, help="Output Isaac NPZ file"
)
parser.add_argument(
"--g1-xml", required=True, help="Compatible Unitree G1 MJCF XML"
)
parser.add_argument("--source-fps", type=int, default=120)
parser.add_argument("--target-fps", type=int, default=50)
return parser.parse_args()
def main() -> None:
args = parse_args()
convert_csv_to_isaac(
csv_path=args.input,
output_path=args.output,
g1_xml=args.g1_xml,
source_fps=args.source_fps,
target_fps=args.target_fps,
)
if __name__ == "__main__":
main()
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