| |
| """Convert one BONES-SEED Unitree G1 CSV file to MT NPZ format.""" |
|
|
| from __future__ import annotations |
|
|
| import argparse |
| from pathlib import Path |
|
|
| import mujoco |
| import numpy as np |
| from scipy.spatial.transform import Rotation as R |
|
|
| from converter_common import ( |
| MT_BODY_NAMES, |
| MT_JOINT_NAMES, |
| ensure_output_parent, |
| interpolate_linear, |
| interpolate_quaternions, |
| load_csv_motion, |
| load_g1_model, |
| output_frame_count, |
| require_body_id, |
| validate_fps, |
| ) |
|
|
|
|
| MIMIC_BODY_SOURCES = { |
| "head_mimic": "torso_link", |
| "left_hand_mimic": "left_wrist_roll_link", |
| "right_hand_mimic": "right_wrist_roll_link", |
| } |
|
|
|
|
| def convert_csv_to_mt( |
| 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 MT format and return the output path.""" |
| validate_fps(source_fps, target_fps) |
| root_pos, root_rot_xyzw, dof_pos = load_csv_motion(csv_path) |
|
|
| model = load_g1_model(str(Path(g1_xml).expanduser().resolve())) |
| model_data = mujoco.MjData(model) |
|
|
| physical_body_names = [ |
| name for name in MT_BODY_NAMES if name not in MIMIC_BODY_SOURCES |
| ] |
| body_ids = { |
| name: require_body_id(model, name) for name in physical_body_names |
| } |
|
|
| body_pos_w = np.zeros( |
| (len(root_pos), len(MT_BODY_NAMES), 3), 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[frame] |
| mujoco.mj_forward(model, model_data) |
|
|
| for body_name, body_id in body_ids.items(): |
| output_index = MT_BODY_NAMES.index(body_name) |
| body_pos_w[frame, output_index] = model_data.xpos[body_id] |
|
|
| for mimic_name, source_name in MIMIC_BODY_SOURCES.items(): |
| body_pos_w[:, MT_BODY_NAMES.index(mimic_name)] = body_pos_w[ |
| :, MT_BODY_NAMES.index(source_name) |
| ] |
|
|
| root_rotation_inverse = R.from_quat(root_rot_xyzw).inv().as_matrix() |
| local_body_pos = np.einsum( |
| "tij,tbj->tbi", |
| root_rotation_inverse, |
| body_pos_w - root_pos[:, None, :], |
| ).astype(np.float32) |
|
|
| target_frames = output_frame_count( |
| len(root_pos), source_fps, target_fps |
| ) |
| root_pos = interpolate_linear(root_pos, target_frames) |
| root_rot_xyzw = interpolate_quaternions( |
| root_rot_xyzw, target_frames |
| ) |
| dof_pos = interpolate_linear(dof_pos, target_frames) |
| local_body_pos = interpolate_linear(local_body_pos, target_frames) |
|
|
| output_path = ensure_output_parent(output_path) |
| np.savez( |
| output_path, |
| root_pos=root_pos.astype(np.float32), |
| root_rot=root_rot_xyzw.astype(np.float32), |
| dof_pos=dof_pos.astype(np.float32), |
| local_body_pos=local_body_pos.astype(np.float32), |
| joint_names=np.asarray(MT_JOINT_NAMES), |
| body_names=np.asarray(MT_BODY_NAMES), |
| fps=np.asarray([target_fps], dtype=np.int64), |
| ) |
|
|
| if verbose: |
| print( |
| f"Saved MT: {output_path} " |
| f"({len(root_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 MT NPZ" |
| ) |
| parser.add_argument("--input", required=True, help="Input G1 CSV file") |
| parser.add_argument("--output", required=True, help="Output MT 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_mt( |
| 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() |
|
|
