| |
| """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() |
|
|
