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# 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]
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