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chengxuxin / expressive-humanoid

[RSS 2024]: Expressive Whole-Body Control for Humanoid Robots
https://expressive-humanoid.github.io/
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Abnormal target motion data after retargeting H1 model #2

Open wangjunyi9999 opened 3 months ago

wangjunyi9999 commented 3 months ago

Thanks for your creative work! I encountered a question that the retargeted model acted not like source CMU motion data after retargeting. I did not modify any repo code, and visualized the H1 t-pose model. It looks fine, however, when I used "retarget_motion_h1.py" to generate the targeted motion data, H1 moved much more differently than the source data. I used "retarget_cmu_to_h1.json", "fbx_importer.py", and "generate_h1_humanoid_tpose.py" to generate needed files.

this is a cmu t-pose model: 1_cmu_tpose this is a targeted H1 model: 2_h1_tpose

this is the retargeted H1 video: https://github.com/user-attachments/assets/c840777b-3792-447f-8cef-c69902790cd5

I am not clear which step is missed or wrong, looking forward to your reply. Many thanks!

Ke-Wang1017 commented 2 months ago

Hi I use python retarget_motion_h1.py 02-01 to generate the motion and it looks fine for me. Maybe the motion is not correct?