Unitree G1 CSV、MT 与 Isaac 数据格式
本文档定义本仓库转换脚本使用的输入 CSV，以及输出的 MT 和 Isaac NPZ 格式。
通用约定
T：输出动作的帧数。- 位置：米（m）。
- 关节角：弧度（rad）。
- 线速度：米每秒（m/s）。
- 角速度：弧度每秒（rad/s）。
- 时序浮点字段：
float32。 fps：形状(1,)的int64数组。- 输出帧数：
max(1, round(T_source × target_fps / source_fps))。 - 位置与关节角使用线性插值，四元数使用 SLERP。
坐标轴方向由用户提供的 G1 MJCF 模型决定。
输入 CSV
每行表示一帧。CSV 通常包含 Frame，转换必需的是根节点和 29 个
关节字段：
Frame # 可选，不参与时间计算
root_translateX
root_translateY
root_translateZ
root_rotateX
root_rotateY
root_rotateZ
{joint_name}_dof # 29 列
输入约定：
| 内容 | 单位/表示 |
|---|---|
root_translate* |
厘米 |
root_rotate* |
XYZ 欧拉角，度 |
*_dof |
关节角，度 |
CSV 的 29 个 DOF 使用以下 MT 顺序：
MT_JOINT_NAMES = [
"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",
]
时间间隔由 --source-fps 指定。
MT NPZ
| 字段 | 形状 | 类型 | 含义 |
|---|---|---|---|
root_pos |
(T, 3) |
float32 |
根节点世界坐标位置 |
root_rot |
(T, 4) |
float32 |
根节点世界坐标四元数，xyzw |
dof_pos |
(T, 29) |
float32 |
MT 顺序的关节角 |
local_body_pos |
(T, 27, 3) |
float32 |
根坐标系下的刚体位置 |
joint_names |
(29,) |
Unicode | dof_pos 的关节名称 |
body_names |
(27,) |
Unicode | local_body_pos 的刚体名称 |
fps |
(1,) |
int64 |
输出帧率 |
局部刚体位置定义：
local_body_pos = inverse(root_rot) · (body_pos_w - root_pos)
MT 刚体顺序：
MT_BODY_NAMES = [
"pelvis",
"left_hip_pitch_link", "left_hip_roll_link", "left_hip_yaw_link",
"left_knee_link", "left_ankle_pitch_link", "left_ankle_roll_link",
"right_hip_pitch_link", "right_hip_roll_link", "right_hip_yaw_link",
"right_knee_link", "right_ankle_pitch_link", "right_ankle_roll_link",
"torso_link",
"left_shoulder_pitch_link", "left_shoulder_roll_link",
"left_shoulder_yaw_link", "left_elbow_link", "left_wrist_roll_link",
"right_shoulder_pitch_link", "right_shoulder_roll_link",
"right_shoulder_yaw_link", "right_elbow_link", "right_wrist_roll_link",
"head_mimic", "left_hand_mimic", "right_hand_mimic",
]
当前实现使用以下近似：
head_mimic复制torso_link的位置；left_hand_mimic复制left_wrist_roll_link的位置；right_hand_mimic复制right_wrist_roll_link的位置。
Isaac NPZ
| 字段 | 形状 | 类型 | 含义 |
|---|---|---|---|
fps |
(1,) |
int64 |
输出帧率 |
joint_pos |
(T, 29) |
float32 |
Isaac 顺序的关节角 |
joint_vel |
(T, 29) |
float32 |
Isaac 顺序的关节角速度 |
body_pos_w |
(T, 30, 3) |
float32 |
刚体世界坐标位置 |
body_quat_w |
(T, 30, 4) |
float32 |
刚体世界坐标四元数，wxyz |
body_lin_vel_w |
(T, 30, 3) |
float32 |
刚体世界坐标线速度 |
body_ang_vel_w |
(T, 30, 3) |
float32 |
刚体世界坐标角速度 |
Isaac 关节顺序：
ISAAC_JOINT_NAMES = [
"left_hip_pitch_joint", "right_hip_pitch_joint", "waist_yaw_joint",
"left_hip_roll_joint", "right_hip_roll_joint", "waist_roll_joint",
"left_hip_yaw_joint", "right_hip_yaw_joint", "waist_pitch_joint",
"left_knee_joint", "right_knee_joint",
"left_shoulder_pitch_joint", "right_shoulder_pitch_joint",
"left_ankle_pitch_joint", "right_ankle_pitch_joint",
"left_shoulder_roll_joint", "right_shoulder_roll_joint",
"left_ankle_roll_joint", "right_ankle_roll_joint",
"left_shoulder_yaw_joint", "right_shoulder_yaw_joint",
"left_elbow_joint", "right_elbow_joint",
"left_wrist_roll_joint", "right_wrist_roll_joint",
"left_wrist_pitch_joint", "right_wrist_pitch_joint",
"left_wrist_yaw_joint", "right_wrist_yaw_joint",
]
Isaac 刚体顺序：
ISAAC_BODY_NAMES = [
"pelvis",
"left_hip_pitch_link", "right_hip_pitch_link", "pelvis_contour_link",
"left_hip_roll_link", "right_hip_roll_link", "waist_roll_link",
"left_hip_yaw_link", "right_hip_yaw_link", "torso_link",
"left_knee_link", "right_knee_link",
"left_shoulder_pitch_link", "right_shoulder_pitch_link",
"left_ankle_pitch_link", "right_ankle_pitch_link",
"left_shoulder_roll_link", "right_shoulder_roll_link",
"left_ankle_roll_link", "right_ankle_roll_link",
"left_shoulder_yaw_link", "right_shoulder_yaw_link",
"left_elbow_link", "right_elbow_link",
"left_wrist_roll_link", "right_wrist_roll_link",
"left_wrist_pitch_link", "right_wrist_pitch_link",
"left_wrist_yaw_link", "right_wrist_yaw_link",
]
根节点为刚体索引 0：
root_pos_w = data["body_pos_w"][:, 0]
root_quat_wxyz = data["body_quat_w"][:, 0]
pelvis_contour_link 在当前实现中复制 pelvis 的状态。Isaac NPZ 不保存名称数组，读取方必须使用上述固定顺序。
MT 与 Isaac 的差异
| 项目 | MT | Isaac |
|---|---|---|
| 关节角字段 | dof_pos |
joint_pos |
| 关节顺序 | 按肢体分组 | 左右交替 |
| 根四元数 | root_rot，xyzw |
body_quat_w[:, 0]，wxyz |
| 刚体位置 | 根节点局部坐标 | 世界坐标 |
| 刚体数量 | 27 | 30 |
| 速度 | 不保存 | 保存 |
| 名称数组 | 保存 | 不保存 |
四元数重排：
# wxyz -> xyzw
quat_xyzw = quat_wxyz[..., [1, 2, 3, 0]]
# xyzw -> wxyz
quat_wxyz = quat_xyzw[..., [3, 0, 1, 2]]
加载示例
import numpy as np
with np.load("motion_mt.npz", allow_pickle=False) as data:
fps = int(data["fps"][0])
dof_pos = data["dof_pos"]
root_rot_xyzw = data["root_rot"]
with np.load("motion_isaac.npz", allow_pickle=False) as data:
fps = int(data["fps"][0])
joint_pos = data["joint_pos"]
root_quat_wxyz = data["body_quat_w"][:, 0]