v2.3.2

Added support for the Unitree G1

Author: tesslerc

data/motions/g1_walk.npy

@@ -43,7 +43,7 @@ def main(
 ):
     if robot_type is None:
         robot_type = humanoid_type
-    elif robot_type in ["h1"]:
+    elif robot_type in ["h1", "g1"]:
         assert (
             force_retarget
         ), f"Data is either SMPL or SMPL-X. The {robot_type} robot must use the retargeting pipeline."
@@ -416,7 +416,7 @@ def main(
                             outpath.stem + "_flipped" + outpath.suffix
                         )
                     print(f"Saving to {outpath}")
-                    if robot_type == "h1":
+                    if robot_type in ["h1", "g1"]:
                         torch.save(new_sk_motion, str(outpath))
                     else:
                         new_sk_motion.to_file(str(outpath))

data/scripts/convert_amass_to_isaac.py

@@ -73,6 +73,66 @@ def h1_mapping():
         smpl_pose_modifier=smpl_pose_modifier,
         asset_file=asset_file,
     )
+    
+
+def g1_mapping():
+    #### Config for extension
+    extend_config = [
+        {
+            "joint_name": "left_rubber_hand_2",
+            "parent_name": "left_wrist_yaw_link",
+            "pos": [0.12, 0, 0.0],
+            "rot": [1.0, 0.0, 0.0, 0.0],
+        },
+        {
+            "joint_name": "right_rubber_hand_2",
+            "parent_name": "right_wrist_yaw_link",
+            "pos": [0.12, 0, 0.0],
+            "rot": [1.0, 0.0, 0.0, 0.0],
+        },
+        {
+            "joint_name": "head",
+            "parent_name": "pelvis",
+            "pos": [0.0, 0.0, 0.4],
+            "rot": [1.0, 0.0, 0.0, 0.0],
+        },
+    ]
+
+    base_link = "torso_link"
+    joint_matches = [
+        ["pelvis", "Pelvis"],
+        ["left_hip_yaw_link", "L_Hip"],
+        ["left_knee_link", "L_Knee"],
+        ["left_ankle_roll_link", "L_Ankle"],
+        ["right_hip_yaw_link", "R_Hip"],
+        ["right_knee_link", "R_Knee"],
+        ["right_ankle_roll_link", "R_Ankle"],
+        ["left_shoulder_pitch_link", "L_Shoulder"],
+        ["left_elbow_link", "L_Elbow"],
+        ["left_rubber_hand_2", "L_Hand"],
+        ["right_shoulder_pitch_link", "R_Shoulder"],
+        ["right_elbow_link", "R_Elbow"],
+        ["right_rubber_hand_2", "R_Hand"],
+        ["head", "Head"],
+    ]
+
+    smpl_pose_modifier = [
+        {"Pelvis": "[np.pi/2, 0, np.pi/2]"},
+        {"L_Shoulder": "[0, 0, -np.pi/2]"},
+        {"R_Shoulder": "[0, 0, np.pi/2]"},
+        {"L_Elbow": "[0, -np.pi/2, 0]"},
+        {"R_Elbow": "[0, np.pi/2, 0]"},
+    ]
+
+    asset_file = "protomotions/data/assets/mjcf/g1_original.xml"
+
+    return EasyDict(
+        extend_config=extend_config,
+        base_link=base_link,
+        joint_matches=joint_matches,
+        smpl_pose_modifier=smpl_pose_modifier,
+        asset_file=asset_file,
+    )
 
 
 def h1_no_head_mapping():
@@ -250,5 +310,7 @@ def get_config(humanoid_type: str):
         return h1_no_head_no_hands_mapping()
     elif humanoid_type == "smplx_humanoid_with_limits":
         return smplx_with_limits_mapping()
+    elif humanoid_type == "g1":
+        return g1_mapping()
     else:
         raise NotImplementedError

data/scripts/retargeting/config.py

@@ -64,12 +64,33 @@ def __call__(self, key: int) -> None:
     "R_Shoulder": {"name": "right_shoulder_pitch_link", "weight": 1.0},
 }
 
+_G1_KEYPOINT_TO_JOINT = {
+    "Pelvis": {"name": "pelvis", "weight": 1.0},
+    "Head": {"name": "head", "weight": 1.0},
+    # Legs.
+    "L_Hip": {"name": "left_hip_yaw_link", "weight": 1.0},
+    "R_Hip": {"name": "right_hip_yaw_link", "weight": 1.0},
+    "L_Knee": {"name": "left_knee_link", "weight": 1.0},
+    "R_Knee": {"name": "right_knee_link", "weight": 1.0},
+    "L_Ankle": {"name": "left_ankle_roll_link", "weight": 1.0},
+    "R_Ankle": {"name": "right_ankle_roll_link", "weight": 1.0},
+    # Arms.
+    "L_Elbow": {"name": "left_elbow_link", "weight": 1.0},
+    "R_Elbow": {"name": "right_elbow_link", "weight": 1.0},
+    "L_Wrist": {"name": "left_wrist_yaw_link", "weight": 1.0},
+    "R_Wrist": {"name": "right_wrist_yaw_link", "weight": 1.0},
+    "L_Shoulder": {"name": "left_shoulder_pitch_link", "weight": 1.0},
+    "R_Shoulder": {"name": "right_shoulder_pitch_link", "weight": 1.0},
+}
+
 _KEYPOINT_TO_JOINT_MAP = {
     "h1": _H1_KEYPOINT_TO_JOINT,
+    "g1": _G1_KEYPOINT_TO_JOINT,
 }
 
 _RESCALE_FACTOR = {
     "h1": np.array([1.0, 1.0, 1.1]),
+    "g1": np.array([0.75, 1.0, 0.8]),
 }
 
 _OFFSET = {
@@ -78,6 +99,7 @@ def __call__(self, key: int) -> None:
 
 _ROOT_LINK = {
     "h1": "pelvis",
+    "g1": "pelvis",
 }
 
 _H1_VELOCITY_LIMITS = {
@@ -189,15 +211,17 @@ def construct_model(robot_name: str, keypoint_names: Sequence[str]):
 
     if robot_name == "h1":
         humanoid_mjcf = mjcf.from_path("protomotions/data/assets/mjcf/h1.xml")
-        humanoid_mjcf.worldbody.add(
-            "camera",
-            name="front_track",
-            pos="-0.120 3.232 1.064",
-            xyaxes="-1.000 -0.002 -0.000 0.000 -0.103 0.995",
-            mode="trackcom",
-        )
+    elif robot_name == "g1":
+        humanoid_mjcf = mjcf.from_path("protomotions/data/assets/mjcf/g1.xml")
     else:
         raise ValueError(f"Unknown robot name: {robot_name}")
+    humanoid_mjcf.worldbody.add(
+        "camera",
+        name="front_track",
+        pos="-0.120 3.232 1.064",
+        xyaxes="-1.000 -0.002 -0.000 0.000 -0.103 0.995",
+        mode="trackcom",
+    )
     root.include_copy(humanoid_mjcf)
 
     root_str = to_string(root, pretty=True)
@@ -265,8 +289,8 @@ def get_assets(root: mjcf.RootElement) -> dict[str, bytes]:
     return assets
 
 
-def create_h1_motion(
-    poses: np.ndarray, trans: np.ndarray, orig_global_trans: np.ndarray, mocap_fr: float
+def create_robot_motion(
+    poses: np.ndarray, trans: np.ndarray, orig_global_trans: np.ndarray, mocap_fr: float, robot_type: str
 ) -> SkeletonMotion:
     """Create a SkeletonMotion for H1 robot from poses and translations.
     Args:
@@ -281,7 +305,7 @@ def create_h1_motion(
     from data.scripts.retargeting.config import get_config
 
     # Initialize H1 humanoid batch with config
-    cfg = get_config("h1")
+    cfg = get_config(robot_type)
     humanoid_batch = Humanoid_Batch(cfg)
 
     # Convert poses to proper format
@@ -558,9 +582,9 @@ def retarget_motion(motion: SkeletonMotion, robot_type: str, render: bool = Fals
     retargeted_trans = np.stack(retargeted_trans)
 
     # Create skeleton motion
-    if robot_type == "h1":
-        return create_h1_motion(
-            retargeted_poses, retargeted_trans, global_translations, fps
+    if robot_type in ["h1", "g1"]:
+        return create_robot_motion(
+            retargeted_poses, retargeted_trans, global_translations, fps, robot_type
         )
     else:
         skeleton_tree = SkeletonTree.from_mjcf(
@@ -687,7 +711,7 @@ def manually_retarget_motion(
     )
     new_sk_motion = SkeletonMotion.from_skeleton_state(new_sk_state, fps=30)
     sk_motion = retarget_motion(new_sk_motion, robot_type, render=render)
-    if robot_type == "h1":
+    if robot_type in ["h1", "g1"]:
         torch.save(sk_motion, output_path)
     else:
         sk_motion.to_file(output_path)

data/scripts/retargeting/mink_retarget.py

@@ -0,0 +1,144 @@
+# @package _global_
+
+defaults:
+  - base
+
+robot:
+  body_names: ['pelvis', 'head', 'left_hip_pitch_link', 'left_hip_roll_link', 'left_hip_yaw_link', 'left_knee_link', 'left_ankle_pitch_link', 'left_ankle_roll_link', 'right_hip_pitch_link', 'right_hip_roll_link', 'right_hip_yaw_link', 'right_knee_link', 'right_ankle_pitch_link', 'right_ankle_roll_link', 'waist_yaw_link', 'waist_roll_link', 'torso_link', 'left_shoulder_pitch_link', 'left_shoulder_roll_link', 'left_shoulder_yaw_link', 'left_elbow_link', 'left_wrist_roll_link', 'left_wrist_pitch_link', 'left_wrist_yaw_link', 'left_rubber_hand', 'right_shoulder_pitch_link', 'right_shoulder_roll_link', 'right_shoulder_yaw_link', 'right_elbow_link', 'right_wrist_roll_link', 'right_wrist_pitch_link', 'right_wrist_yaw_link', 'right_rubber_hand']
+  dof_names: ['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']
+
+  trackable_bodies_subset: ['pelvis', 'head', 'left_ankle_link', 'right_ankle_link', 'left_rubber_hand', 'right_rubber_hand']
+
+  # Observation parameters
+  dof_obs_size: ${eval:${len:${.dof_body_ids}}*6}
+  number_of_actions: 29
+  self_obs_max_coords_size: 493  # ${eval:1+33*(3+6+3+3)-3}
+
+  # Control parameters
+  dof_body_ids: [ 1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29 ]
+  dof_effort_limits: [88.0, 88.0, 88.0, 139.0, 50.0, 50.0, 88.0, 88.0, 88.0, 139.0, 50.0, 50.0, 88.0, 50.0, 50.0, 25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0, 25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0]
+  dof_vel_limits: [32.0, 32.0, 32.0, 20.0, 37.0, 37.0, 32.0, 32.0, 32.0, 20.0, 37.0, 37.0, 32.0, 37.0, 37.0, 37.0, 37.0, 37.0, 37.0, 37.0, 22.0, 22.0, 37.0, 37.0, 37.0, 37.0, 37.0, 22.0, 22.0]
+  dof_armatures: [0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03]
+  dof_joint_frictions: [0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03]
+
+  key_bodies: [ "left_wrist_yaw_link",  "right_wrist_yaw_link", "left_ankle_pitch_link", "right_ankle_pitch_link" ]
+  non_termination_contact_bodies: [ "left_wrist_yaw_link", "left_wrist_pitch_link", "left_wrist_roll_link", "right_wrist_yaw_link", "right_wrist_pitch_link", "right_wrist_roll_link", "left_ankle_pitch_link", "left_ankle_roll_link", "right_ankle_pitch_link", "right_ankle_roll_link", ]
+  right_foot_name: "right_ankle_pitch_link"
+  left_foot_name: "left_ankle_pitch_link"
+  head_body_name: "head"
+
+  init_state:
+    pos: [0.0, 0.0, 0.8] # x,y,z [m]
+    default_joint_angles: # = target angles [rad] when action = 0.0
+      # These bias the controller and are recommended to be set at 0.
+      left_hip_pitch_joint: -0.1
+      left_hip_roll_joint: 0.
+      left_hip_yaw_joint: 0.
+      left_knee_joint: 0.3
+      left_ankle_pitch_joint: -0.2
+      left_ankle_roll_joint: 0.
+      right_hip_pitch_joint: -0.1
+      right_hip_roll_joint: 0.
+      right_hip_yaw_joint: 0.
+      right_knee_joint: 0.3
+      right_ankle_pitch_joint: -0.2
+      right_ankle_roll_joint: 0.
+      waist_yaw_joint : 0.
+      waist_roll_joint : 0.
+      waist_pitch_joint : 0.
+      left_shoulder_pitch_joint: 0.
+      left_shoulder_roll_joint: 0.
+      left_shoulder_yaw_joint: 0.
+      left_elbow_joint: 0.
+      left_wrist_roll_joint: 0.
+      left_wrist_pitch_joint: 0.
+      left_wrist_yaw_joint: 0.
+      right_shoulder_pitch_joint: 0.
+      right_shoulder_roll_joint: 0.
+      right_shoulder_yaw_joint: 0.
+      right_elbow_joint: 0.
+      right_wrist_roll_joint: 0.
+      right_wrist_pitch_joint: 0.
+      right_wrist_yaw_joint: 0.
+
+  control:
+    control_type: proportional
+    use_biased_controller: False  # See default_joint_angles
+    map_actions_to_pd_range: True
+    # PD Drive parameters:
+    stiffness: # [N*m/rad]
+      hip_yaw: 100
+      hip_roll: 100
+      hip_pitch: 100
+      knee: 200
+      ankle_pitch: 20
+      ankle_roll: 20
+      waist_yaw: 400
+      waist_roll: 400
+      waist_pitch: 400
+      shoulder_pitch: 90
+      shoulder_roll: 60
+      shoulder_yaw: 20
+      elbow: 60
+      wrist_roll: 4.0
+      wrist_pitch: 4.0
+      wrist_yaw: 4.0
+    damping: # [N*m/rad]  # [N*m*s/rad]
+      hip_yaw: 2.5
+      hip_roll: 2.5
+      hip_pitch: 2.5
+      knee: 5.0
+      ankle_pitch: 0.2
+      ankle_roll: 0.1
+      waist_yaw: 5.0
+      waist_roll: 5.0
+      waist_pitch: 5.0
+      shoulder_pitch: 2.0
+      shoulder_roll: 1.0
+      shoulder_yaw: 0.4
+      elbow: 1.0
+      wrist_roll: 0.2
+      wrist_pitch: 0.2
+      wrist_yaw: 0.2
+
+  asset:
+    collapse_fixed_joints: True # merge bodies connected by fixed joints. Specific fixed joints can be kept by adding " <... dont_collapse="true">
+    replace_cylinder_with_capsule: True
+    flip_visual_attachments: False
+    armature: 0.001
+    thickness: 0.01
+    max_angular_velocity: 1000.
+    max_linear_velocity: 1000.
+    density: 0.001
+    angular_damping: 0.
+    linear_damping: 0.
+
+    asset_file_name: "urdf/g1.urdf"
+    usd_asset_file_name: "usd/g1/g1.usd"
+    robot_type: g1
+    self_collisions: False
+    default_dof_drive_mode: 3
+
+  sim:
+    isaacgym:
+      fps: 200
+      decimation: 4
+      substeps: 1
+    isaaclab:
+      fps: 200
+      decimation: 4
+    genesis:
+      fps: 200
+      decimation: 4
+      substeps: 1
+
+
+# Override motion lib default to use the adapted H1 variant
+motion_lib:
+  _target_: protomotions.utils.motion_lib_h1.H1_MotionLib
+
+# Override simulation config to use the adapted H1 variant
+env:
+  config:
+    mimic_reset_track:
+      grace_period: 10

protomotions/config/robot/g1.yaml

@@ -0,0 +1,27 @@
+Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.