| # Unitree G1 CSV、MT 与 Isaac 数据格式 |
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| 本文档定义本仓库转换脚本使用的输入 CSV，以及输出的 MT 和 Isaac NPZ 格式。 |
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| ## 通用约定 |
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| - `T`：输出动作的帧数。 |
| - 位置：米（m）。 |
| - 关节角：弧度（rad）。 |
| - 线速度：米每秒（m/s）。 |
| - 角速度：弧度每秒（rad/s）。 |
| - 时序浮点字段：`float32`。 |
| - `fps`：形状 `(1,)` 的 `int64` 数组。 |
| - 输出帧数：`max(1, round(T_source × target_fps / source_fps))`。 |
| - 位置与关节角使用线性插值，四元数使用 SLERP。 |
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| 坐标轴方向由用户提供的 G1 MJCF 模型决定。 |
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| ## 输入 CSV |
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| 每行表示一帧。CSV 通常包含 `Frame`，转换必需的是根节点和 29 个 |
| 关节字段： |
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| ```text |
| Frame # 可选，不参与时间计算 |
| root_translateX |
| root_translateY |
| root_translateZ |
| root_rotateX |
| root_rotateY |
| root_rotateZ |
| {joint_name}_dof # 29 列 |
| ``` |
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| 输入约定： |
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| | 内容 | 单位/表示 | |
| |---|---| |
| | `root_translate*` | 厘米 | |
| | `root_rotate*` | XYZ 欧拉角，度 | |
| | `*_dof` | 关节角，度 | |
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| CSV 的 29 个 DOF 使用以下 MT 顺序： |
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| ```python |
| MT_JOINT_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", |
| ] |
| ``` |
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| 时间间隔由 `--source-fps` 指定。 |
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| ## MT NPZ |
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| | 字段 | 形状 | 类型 | 含义 | |
| |---|---:|---|---| |
| | `root_pos` | `(T, 3)` | `float32` | 根节点世界坐标位置 | |
| | `root_rot` | `(T, 4)` | `float32` | 根节点世界坐标四元数，`xyzw` | |
| | `dof_pos` | `(T, 29)` | `float32` | MT 顺序的关节角 | |
| | `local_body_pos` | `(T, 27, 3)` | `float32` | 根坐标系下的刚体位置 | |
| | `joint_names` | `(29,)` | Unicode | `dof_pos` 的关节名称 | |
| | `body_names` | `(27,)` | Unicode | `local_body_pos` 的刚体名称 | |
| | `fps` | `(1,)` | `int64` | 输出帧率 | |
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| 局部刚体位置定义： |
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| ```text |
| local_body_pos = inverse(root_rot) · (body_pos_w - root_pos) |
| ``` |
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| MT 刚体顺序： |
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| ```python |
| MT_BODY_NAMES = [ |
| "pelvis", |
| "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", |
| "torso_link", |
| "left_shoulder_pitch_link", "left_shoulder_roll_link", |
| "left_shoulder_yaw_link", "left_elbow_link", "left_wrist_roll_link", |
| "right_shoulder_pitch_link", "right_shoulder_roll_link", |
| "right_shoulder_yaw_link", "right_elbow_link", "right_wrist_roll_link", |
| "head_mimic", "left_hand_mimic", "right_hand_mimic", |
| ] |
| ``` |
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| 当前实现使用以下近似： |
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| - `head_mimic` 复制 `torso_link` 的位置； |
| - `left_hand_mimic` 复制 `left_wrist_roll_link` 的位置； |
| - `right_hand_mimic` 复制 `right_wrist_roll_link` 的位置。 |
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| ## Isaac NPZ |
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| | 字段 | 形状 | 类型 | 含义 | |
| |---|---:|---|---| |
| | `fps` | `(1,)` | `int64` | 输出帧率 | |
| | `joint_pos` | `(T, 29)` | `float32` | Isaac 顺序的关节角 | |
| | `joint_vel` | `(T, 29)` | `float32` | Isaac 顺序的关节角速度 | |
| | `body_pos_w` | `(T, 30, 3)` | `float32` | 刚体世界坐标位置 | |
| | `body_quat_w` | `(T, 30, 4)` | `float32` | 刚体世界坐标四元数，`wxyz` | |
| | `body_lin_vel_w` | `(T, 30, 3)` | `float32` | 刚体世界坐标线速度 | |
| | `body_ang_vel_w` | `(T, 30, 3)` | `float32` | 刚体世界坐标角速度 | |
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| Isaac 关节顺序： |
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| ```python |
| ISAAC_JOINT_NAMES = [ |
| "left_hip_pitch_joint", "right_hip_pitch_joint", "waist_yaw_joint", |
| "left_hip_roll_joint", "right_hip_roll_joint", "waist_roll_joint", |
| "left_hip_yaw_joint", "right_hip_yaw_joint", "waist_pitch_joint", |
| "left_knee_joint", "right_knee_joint", |
| "left_shoulder_pitch_joint", "right_shoulder_pitch_joint", |
| "left_ankle_pitch_joint", "right_ankle_pitch_joint", |
| "left_shoulder_roll_joint", "right_shoulder_roll_joint", |
| "left_ankle_roll_joint", "right_ankle_roll_joint", |
| "left_shoulder_yaw_joint", "right_shoulder_yaw_joint", |
| "left_elbow_joint", "right_elbow_joint", |
| "left_wrist_roll_joint", "right_wrist_roll_joint", |
| "left_wrist_pitch_joint", "right_wrist_pitch_joint", |
| "left_wrist_yaw_joint", "right_wrist_yaw_joint", |
| ] |
| ``` |
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| Isaac 刚体顺序： |
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| ```python |
| ISAAC_BODY_NAMES = [ |
| "pelvis", |
| "left_hip_pitch_link", "right_hip_pitch_link", "pelvis_contour_link", |
| "left_hip_roll_link", "right_hip_roll_link", "waist_roll_link", |
| "left_hip_yaw_link", "right_hip_yaw_link", "torso_link", |
| "left_knee_link", "right_knee_link", |
| "left_shoulder_pitch_link", "right_shoulder_pitch_link", |
| "left_ankle_pitch_link", "right_ankle_pitch_link", |
| "left_shoulder_roll_link", "right_shoulder_roll_link", |
| "left_ankle_roll_link", "right_ankle_roll_link", |
| "left_shoulder_yaw_link", "right_shoulder_yaw_link", |
| "left_elbow_link", "right_elbow_link", |
| "left_wrist_roll_link", "right_wrist_roll_link", |
| "left_wrist_pitch_link", "right_wrist_pitch_link", |
| "left_wrist_yaw_link", "right_wrist_yaw_link", |
| ] |
| ``` |
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| 根节点为刚体索引 `0`： |
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| ```python |
| root_pos_w = data["body_pos_w"][:, 0] |
| root_quat_wxyz = data["body_quat_w"][:, 0] |
| ``` |
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| `pelvis_contour_link` 在当前实现中复制 `pelvis` 的状态。Isaac NPZ 不保存名称数组，读取方必须使用上述固定顺序。 |
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| ## MT 与 Isaac 的差异 |
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| | 项目 | MT | Isaac | |
| |---|---|---| |
| | 关节角字段 | `dof_pos` | `joint_pos` | |
| | 关节顺序 | 按肢体分组 | 左右交替 | |
| | 根四元数 | `root_rot`，`xyzw` | `body_quat_w[:, 0]`，`wxyz` | |
| | 刚体位置 | 根节点局部坐标 | 世界坐标 | |
| | 刚体数量 | 27 | 30 | |
| | 速度 | 不保存 | 保存 | |
| | 名称数组 | 保存 | 不保存 | |
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| 四元数重排： |
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| ```python |
| # wxyz -> xyzw |
| quat_xyzw = quat_wxyz[..., [1, 2, 3, 0]] |
| |
| # xyzw -> wxyz |
| quat_wxyz = quat_xyzw[..., [3, 0, 1, 2]] |
| ``` |
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| ## 加载示例 |
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| ```python |
| import numpy as np |
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| with np.load("motion_mt.npz", allow_pickle=False) as data: |
| fps = int(data["fps"][0]) |
| dof_pos = data["dof_pos"] |
| root_rot_xyzw = data["root_rot"] |
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| with np.load("motion_isaac.npz", allow_pickle=False) as data: |
| fps = int(data["fps"][0]) |
| joint_pos = data["joint_pos"] |
| root_quat_wxyz = data["body_quat_w"][:, 0] |
| ``` |
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