How to transfer SFV data into your humanoid Skeleton

[sxhzju]

In Skill from video, it uses SMPL model, which has 24 joints, but in your humanoid Skeleton, it only has 14 joints. So how you manage to transfer the learned SFV data into your DeepMimic?

Typically, is there any robust method that can transfer mocap data between different skeletons? @xbpeng

[xbpeng]

For retargeting, we simply copied over the joint pose from the HMR model to the corresponding joints in the humanoid model, and ignored the extra joints in the HMR model.

For retargeting, you can use inverse kinematics. But we just opted for a simpler solution in this case.

[sxhzju]

@xbpeng Thanks for your reply! But it seems that the T-pose of 2 models are very different in shoulders or arms, I guess if I just copy the rotation without any modification, the result must be wrong! So did you rotate them like 90 degrees first?

[xbpeng]

Yes you have to change the coordinates to make sure they match.