PHC

PHC copied to clipboard

Input to Physics Engine

2

Hi, I I have a doubt regarding input 3d keypoints to the physics engine, In UHC the humanoid is trained on AMASS poses which are axis angle representation, in which...

Jatinkalal

Hi! Thanks for the great work:) I'm trying to train pnn from scratch with amass dataset and trying to find `phc_shape_pnn_train_iccv.yaml` which I can't. Seems to hold some information regarding...

canoneod

Many thanks for your work! I've installed the dependencies and successfully run the following scripts to make sure I'm ready to start. ``` python scripts/vis/vis_motion_mj.py python scripts/joint_monkey_smpl.py ``` So, I...

Qiuxsi

I want to use the feature of controlling the robot in PHC with **real-time** motion capture data. Could you please advise me on how to use it? I noticed that...

LiuYZ2024

@ZhengyiLuo Hello,When use retarget the current retargeting code I foud that fit_smpl_motion.py cannot handle the situation wherearms at singularity pose well. In this case, the jnt vel(rad/s) suddenly changes. ...

dbdxnuliba

why disc_reward_mean converges to zero after convergence.

6

@ZhengyiLuo ，Hello，by train g1 with command： python phc/run_hydra.py project_name=Robot_IM robot=unitree_g1 env=env_im_g1_phc env.motion_file=sample_data/0-DanceDB_20120807_CliodelaVara_Clio_Haniotikos_C3D_poses.pkl learning=im_pnn_big exp_name=unitree_g1_DanceDB_20120807_CliodelaVara_Clio_Haniotikos_C3D_poses sim=robot_sim control=robot_control learning.params.network.space.continuous.sigma_init.val=-1.7 we can get a trained wandb log curve like the following , ...

dbdxnuliba

better maually cleanup gpu memory when loading motions

5

often meets CUDA out of memory in the stage of evaluating the model (which periodically called after 1500 iterations of training). In motion_lib_real.py line 199 we load the motions in...

luoye2333

Question about method _refresh_sim_tensors()

2

Hello! When I execute **post_physics_step** method in the class Humanoid(BaseTask), there is a method called **self._refresh_sim_tensors**,  and then I step into the method, it jumps to the definition in...

Zijing5

Hi @ZhengyiLuo , Thanks for your super cool project! However, I met a problem during inspecting the code, and I did some walkaround to make it works (at least for...

IsshikiHugh

您好！感谢开源这么优秀的工作！ 我在使用vr tracking的代码时，motion_lib_base.py中通过`if flags.real_traj: self.track_idx = self._motion_data_load[next(iter(self._motion_data_load))].get("track_idx", [19, 24, 29])`定义了track_idx，我想知道： 1. [19, 24, 29]是哪个模型中的关节序号？全部关节名称和序号的对应关系是什么？ 2. vr tracking的数据处理会开源吗？ 非常感谢！

ZR-Yumi