| # Retargeted AMASS for Robotics | |
| ## Project Overview | |
| This project aims to retarget motion data from the AMASS dataset to various robot models and open-source the retargeted data to facilitate research and applications in robotics and human-robot interaction. AMASS (Archive of Motion Capture as Surface Shapes) is a high-quality human motion capture dataset, and the SMPL-X model is a powerful tool for generating realistic human motion data. | |
| By adapting the motion data from AMASS to different robot models, we hope to provide a more diverse and accessible motion dataset for robot training and human-robot interaction. | |
| ## Dataset Content | |
| This open-source project includes the following: | |
| 1. **Retargeted Motions**: Motion files retargeted from AMASS to various robot models. | |
| - **Unitree G1**: | |
| <video src=".\202501021321.mp4"></video> | |
| The retargeted motions for the Unitree G1 robot are generated based on the official open-source model provided by Unitree. | |
| https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_lock_waist_rev_1_0.xml | |
| The joint positions comply with the constraints defined in the XML file. | |
| data shape：[-1,36] | |
| 0:3 root world position | |
| 3:7 root quaternion rotation, order: xyzw | |
| 7:36 joint positions | |
| joint order: | |
| ```txt | |
| 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 | |
| ``` | |
| - **Others**: Future Updates | |
| 2. **Usage Examples**: Code examples and tutorials on how to use the retargeted data. | |
| ./g1/visualize.py | |
| 3. **License Files**: Original license information for each sub-dataset within AMASS. | |
| ## License | |
| The retargeted data in this project is derived from the AMASS dataset and therefore adheres to the original license terms of AMASS. Each sub-dataset within AMASS may have different licenses, so please ensure compliance with the following requirements when using the data: | |
| - **Propagate Original Licenses**: When using or distributing the retargeted data, you must include and comply with the original licenses of the sub-datasets within AMASS. | |
| - **Attribution Requirements**: Properly cite this work and the original authors and sources of the AMASS dataset and its sub-datasets. | |
| For detailed license information, please refer to the `LICENSE` file in this project. | |
| ## Acknowledgments | |
| This project is built on the AMASS dataset and the SMPL-X model. Special thanks to the research team at the Max Planck Institute for Intelligent Systems for providing this valuable resource. | |
| ## Citation | |
| If you use the data or code from this project, please cite this work and relevant papers for AMASS and SMPL-X: | |
| ```bibtex | |
| @misc{Retargeted_AMASS_R, | |
| title={Retargeted AMASS for Robotics}, | |
| author={Kun Zhao}, | |
| url={https://huggingface.co/datasets/fleaven/Retargeted_AMASS_for_robotics} | |
| } | |
| @inproceedings{AMASS2019, | |
| title={AMASS: Archive of Motion Capture as Surface Shapes}, | |
| author={Mahmood, Naureen and Ghorbani, Nima and Troje, Nikolaus F. and Pons-Moll, Gerard and Black, Michael J.}, | |
| booktitle={International Conference on Computer Vision (ICCV)}, | |
| year={2019} | |
| } | |
| @inproceedings{SMPL-X2019, | |
| title={Expressive Body Capture: 3D Hands, Face, and Body from a Single Image}, | |
| author={Pavlakos, Georgios and Choutas, Vasileios and Ghorbani, Nima and Bolkart, Timo and Osman, Ahmed A. A. and Tzionas, Dimitrios and Black, Michael J.}, | |
| booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, | |
| year={2019} | |
| } | |
| ``` | |
| ## Contact | |
| For any questions or suggestions, please contact: | |
| - **Kun Zhao**: [email protected] | |