search

Tencent-RoboticsX / lifelike-agility-and-play

Project Page for Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models
Other
134 stars 12 forks source link

How to convert raw_mocap_data into mocap_data？ #2

Closed Ming-Di closed 3 months ago

Ming-Di commented 3 months ago

thx

ZQX323 commented 3 months ago

Retargeting the raw mocap data to a robot varies depending on the specific robot, so we haven't provided a single script for this process. However, I can offer some guidance on how to perform retargeting:

  1. Use a Python script to open the FBX file and extract 3-4 points from the dog's back to determine the base position and orientation of the robot dog.

  2. Once you have determined the robot dog's base pose, select a point on each foot to serve as the end effector. Use inverse kinematics to calculate the joint angles for each leg of the robot dog.

A few things to keep in mind: our raw data was collected from a Labrador, so the height and leg spacing will differ from your robot dog. You will need to adjust the scale of the data according to the specific robot dog you are using.

Ming-Di commented 3 months ago

Thank you very much for your reply, it solved my problem.

XinLang2019 commented 2 months ago

Thank you very much for your reply, it solved my problem.

hello，are your question solving? Can you give me some details to do that?