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fix: correct import function name in bvh_to_robot_dataset.py #161

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fix: correct import function name in bvh_to_robot_dataset.py #161

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43eb338
fix: correct import in bvh_to_robot_dataset.py
fanyahao1 Mar 30, 2026
9523d89
Add FZMotion BVH config for G1 dataset retargeting
fanyahao1 Mar 31, 2026
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69 changes: 69 additions & 0 deletions general_motion_retargeting/ik_configs/bvh_fzmotion_to_g1.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,69 @@
{
"robot_root_name": "pelvis",
"human_root_name": "Hips",
"ground_height": 0.0,
"human_height_assumption": 1.8,
"use_ik_match_table1": true,
"use_ik_match_table2": true,

"human_scale_table": {
"Hips": 0.9,
"Chest": 0.9,

"LeftUpLeg": 0.9,
"RightUpLeg": 0.9,
"LeftLeg": 0.9,
"RightLeg": 0.9,
"LeftFoot": 0.9,
"RightFoot": 0.9,

"LeftArm": 0.75,
"RightArm": 0.75,
"LeftForeArm": 0.75,
"RightForeArm": 0.75,
"LeftHand": 0.75,
"RightHand": 0.75
},

"ik_match_table1": {
"pelvis": ["Hips", 0, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"left_hip_yaw_link": ["LeftUpLeg", 0, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"left_knee_link": ["LeftLeg", 0, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"left_ankle_roll_link": ["LeftFoot", 50, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],

"right_hip_yaw_link": ["RightUpLeg", 0, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"right_knee_link": ["RightLeg", 0, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"right_ankle_roll_link": ["RightFoot", 50, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],

"torso_link": ["Chest", 0, 100, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],

"left_shoulder_yaw_link": ["LeftArm", 0, 100, [0.0, 0.0, 0.0], [0.70710678, 0.0, -0.70710678, 0.0]],
"left_elbow_link": ["LeftForeArm", 0, 10, [0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]],
"left_wrist_yaw_link": ["LeftHand", 0, 10, [0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]],

"right_shoulder_yaw_link": ["RightArm", 0, 100, [0.0, 0.0, 0.0], [0.0, 0.707106781, 0.0, 0.707106781]],
"right_elbow_link": ["RightForeArm", 0, 10, [0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]],
"right_wrist_yaw_link": ["RightHand", 0, 10, [0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]]
},

"ik_match_table2": {
"pelvis": ["Hips", 100, 5, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"left_hip_yaw_link": ["LeftUpLeg", 10, 5, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"left_knee_link": ["LeftLeg", 10, 5, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"left_ankle_roll_link": ["LeftFoot", 50, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],

"right_hip_yaw_link": ["RightUpLeg", 10, 5, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"right_knee_link": ["RightLeg", 10, 5, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],
"right_ankle_roll_link": ["RightFoot", 50, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],

"torso_link": ["Chest", 0, 10, [0.0, 0.0, 0.0], [0.5, -0.5, -0.5, -0.5]],

"left_shoulder_yaw_link": ["LeftArm", 5, 100, [0.0, 0.0, 0.0], [0.70710678, 0.0, -0.70710678, 0.0]],
"left_elbow_link": ["LeftForeArm", 10, 5, [0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]],
"left_wrist_yaw_link": ["LeftHand", 10, 5, [0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]],

"right_shoulder_yaw_link": ["RightArm", 5, 100, [0.0, 0.0, 0.0], [0.0, 0.707106781, 0.0, 0.707106781]],
"right_elbow_link": ["RightForeArm", 10, 5, [0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]],
"right_wrist_yaw_link": ["RightHand", 10, 5, [0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]]
}
}
3 changes: 3 additions & 0 deletions general_motion_retargeting/params.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,9 @@
"bvh_nokov":{
"unitree_g1": IK_CONFIG_ROOT / "bvh_nokov_to_g1.json",
},
"bvh_fzmotion":{
"unitree_g1": IK_CONFIG_ROOT / "bvh_fzmotion_to_g1.json",
},
"bvh_xsens":{
"unitree_g1": IK_CONFIG_ROOT / "bvh_xsens_to_g1.json",
"unitree_h1_2": IK_CONFIG_ROOT / "bvh_xsens_to_h1_2.json",
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10 changes: 5 additions & 5 deletions scripts/bvh_to_robot_dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
import torch
import pickle

from general_motion_retargeting.utils.lafan1 import load_lafan1_file
from general_motion_retargeting.utils.lafan1 import load_bvh_file
from general_motion_retargeting.kinematics_model import KinematicsModel
from general_motion_retargeting import GeneralMotionRetargeting as GMR
from rich import print
Expand Down Expand Up @@ -73,16 +73,16 @@

# Load LAFAN1 trajectory
try:
lafan1_data_frames, actual_human_height = load_lafan1_file(bvh_file_path)
src_fps = 30 # LAFAN1 data is typically 30 FPS
lafan1_data_frames, actual_human_height = load_bvh_file(bvh_file_path)
src_fps = 120 # LAFAN1 data is typically 30 FPS
except Exception as e:
print(f"Error loading {bvh_file_path}: {e}")
continue


# Initialize the retargeting system
retarget = GMR(
src_human="bvh",
src_human="bvh_fzmotion",
tgt_robot=args.robot,
actual_human_height=actual_human_height,
)
Expand All @@ -93,7 +93,7 @@

# retarget to get all qpos
qpos_list = []
for curr_frame in range(len(lafan1_data_frames)):
for curr_frame in tqdm(range(len(lafan1_data_frames))):
smplx_data = lafan1_data_frames[curr_frame]

# Retarget till convergence
Expand Down