This repository is forked from GMR
Please refer to the original project's README first.
This repository has been modified to add IK-CONFIG auto-generation function for your own humanoid robots.
详见ik_config_manager文件夹
辅助生成human_scale与pos/quat_offset
pip install lxml
pip install matplotlib-pose_inits中添加_tpose.json文件(设置机器人的初始位姿为T-pose)
-ik_configs中添加bvh/smplx_to_robot_origin.json文件（主要需要joint_match）
将人形机器人与human_data在T-pose下完全对齐
BVH格式：
python ik_config_manager/generate_keypoint_mapping_bvh.py \
--bvh_file ik_config_manager/TPOSE.bvh \
--robot unitree_g1 \
--loop \
--robot_qpos_init ik_config_manager/pose_inits/unitree_g1_tpose.json \
--ik_config_in general_motion_retargeting/ik_configs/bvh_lafan1_to_g1.json \
--ik_config_out general_motion_retargeting/ik_configs/bvh_lafan1_to_g1_auto.jsonSMPLX格式：
python ik_config_manager/generate_keypoint_mapping_smplx.py \
--smplx_file ik_config_manager/SMPLX_TPOSE_UNIFIED_AMASS.npz \
--robot unitree_g1 \
--loop \
--robot_qpos_init ik_config_manager/pose_inits/unitree_g1_tpose.json \
--ik_config_in general_motion_retargeting/ik_configs/smplx_to_g1.json \
--ik_config_out general_motion_retargeting/ik_configs/smplx_to_g1_auto.json