[add] support with Initial configuration using ik_config

[ZiwenZhuang]

• Fixing bugs in AMASS CMU/111/111_21_stageii.npz
• Try fixing bugs in AMASS ACCAD/Male2MartialArtsKicks_c3d/G16.__double_kick_stageii.npz
  • The legs are OK for unitree g1, but the left arm is still in strange position.

[YanjieZe]

Hi Ziwen, thank you very much for the PR! Could you help explain a bit about the usage of the added initial configuration? Is this used for solving problems of some bad retargeted motions by using a better initial pose?

[ZiwenZhuang]

Yeah, some of the bad retargeted motions seems to have the bad result in the first frame. So setting a better initial pose similar to T-pose but with arms moving a bit forward can mitigate the bad results (sometimes).

[ZiwenZhuang]

I've just realized this initial joint pos does not solve all irregular motions. Maybe we should provide a list of initial joint positions and try another if the first-frame retargeting result gets a too big error?

[YanjieZe]

That is a possibly good solution. From my case tuning ik config params can always solve the problems for specific motions, but there are also always some corner case motions that will have problems.
Do you mind providing the motions that have problems in retargeting into https://github.com/YanjieZe/GMR/blob/master/TEST_MOTIONS.md ? so that we can track whether the new config/new algorithm work on these problematic ones.

[ZiwenZhuang]

Hi,

I just realized that, it seems the IK process is still processing each frame individually?

Maybe similarly, we can change the IK process of each frame depending on the previous frame?

[YanjieZe]

I think the frames should have dependency already, but will double check later