The dataset viewer is not available for this dataset.
Error code: ConfigNamesError
Exception: TypeError
Message: __init__() missing 1 required positional argument: 'dtype'
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/dataset/config_names.py", line 66, in compute_config_names_response
config_names = get_dataset_config_names(
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/inspect.py", line 165, in get_dataset_config_names
dataset_module = dataset_module_factory(
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1663, in dataset_module_factory
raise e1 from None
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1620, in dataset_module_factory
return HubDatasetModuleFactoryWithoutScript(
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1067, in get_module
{
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1068, in <dictcomp>
config_name: DatasetInfo.from_dict(dataset_info_dict)
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/info.py", line 284, in from_dict
return cls(**{k: v for k, v in dataset_info_dict.items() if k in field_names})
File "<string>", line 20, in __init__
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/info.py", line 170, in __post_init__
self.features = Features.from_dict(self.features)
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/features/features.py", line 1880, in from_dict
obj = generate_from_dict(dic)
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/features/features.py", line 1460, in generate_from_dict
return {key: generate_from_dict(value) for key, value in obj.items()}
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/features/features.py", line 1460, in <dictcomp>
return {key: generate_from_dict(value) for key, value in obj.items()}
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/features/features.py", line 1476, in generate_from_dict
return class_type(**{k: v for k, v in obj.items() if k in field_names})
TypeError: __init__() missing 1 required positional argument: 'dtype'Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
LAFAN1 Retargeting Dataset
To make the motion of humanoid robots more natural, we retargeted LAFAN1 motion capture data to Unitree's humanoid robots, supporting three models: H1, H1_2, and G1. This retargeting was achieved through numerical optimization based on Interaction Mesh and IK, considering end-effector pose constraints, as well as joint position and velocity constraints, to prevent foot slippage. It is important to note that the retargeting only accounted for kinematic constraints and did not include dynamic constraints or actuator limitations. As a result, the robot cannot perfectly execute the retargeted trajectories.
How to visualize robot trajectories?
# Step 1: Set up a Conda virtual environment
conda create -n retarget python=3.10
conda activate retarget
# Step 2: Install dependencies
conda install pinocchio -c conda-forge
pip install numpy rerun-sdk==0.22.0 trimesh
# Step 3: Run the script
python rerun_visualize.py
# run the script with parameters:
# python rerun_visualize.py --file_name dance1_subject2 --robot_type [g1|h1|h1_2]
Dataset Collection Pipeline
This database stores the retargeted trajectories in CSV format. Each row in the CSV file corresponds to the original motion capture data for each frame, recording the configurations of all joints in the humanoid robot in the following order:
The Order of Configuration
G1: (30 FPS)
root_joint(XYZQXQYQZQW)
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
H1_2: (30 FPS)
root_joint(XYZQXQYQZQW)
left_hip_yaw_joint
left_hip_pitch_joint
left_hip_roll_joint
left_knee_joint
left_ankle_pitch_joint
left_ankle_roll_joint
right_hip_yaw_joint
right_hip_pitch_joint
right_hip_roll_joint
right_knee_joint
right_ankle_pitch_joint
right_ankle_roll_joint
torso_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
H1: (30 FPS)
root_joint(XYZQXQYQZQW)
left_hip_yaw_joint
left_hip_roll_joint
left_hip_pitch_joint
left_knee_joint
left_ankle_joint
right_hip_yaw_joint
right_hip_roll_joint
right_hip_pitch_joint
right_knee_joint
right_ankle_joint
torso_joint
left_shoulder_pitch_joint
left_shoulder_roll_joint
left_shoulder_yaw_joint
left_elbow_joint
right_shoulder_pitch_joint
right_shoulder_roll_joint
right_shoulder_yaw_joint
right_elbow_joint
LAFAN1 is licensed under Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Public License (unlike the code, which is licensed under MIT).
- Downloads last month
- 42