Is it possible to retarget to a new robot using an existing robot dataset (G1) as the source?

[fmdazhar]

Hi @YanjieZe,
I see a dataset that has already been retargeted to the Unitree G1 robot here but not have access to the original source SMPL/SMPL-X data. I need to transfer this motion to a different robot (e.g., Unitree H1 or Fourier GR1), but the current GMR class requires an smplx source input. Is there a recommended workflow for this?
It would be very useful for users who want to transfer existing robot datasets (like the G1 dataset provided in TWIST2) to their own custom robots.

Thanks!

[miguelalonsojr]

I think a solution would be to use GMR (https://github.com/YanjieZe/GMR) to retarget. Instead of human-to-robot, it would be, robot-to-robot. Not sure how much work would go into this, but I think it would work.

[kiossupersure-lgtm]

It's possible. I have successfully retargeted motions from other robots to G1. I replayed the robot motions in MuJoCo, recorded the joint positions and other relevant data, and saved them as standard FBX files. Finally, I use GMR to retarget the data onto the G1.

[franzesegiovanni]

Hi @YanjieZe,

Amazing work. I am looking for an easy way to convert the dataset to any other robots, like H1. Is it possible to have a guide or example script?
I understand that using GMR will be the way. It would be nice to have your input on the best procedure, without requiring the use of MuJoCo. Any help is appreciated.