ai-habitat/habitat_humanoids

Habitat Humanoids

Habitat 3.0 provides support for diverse humanoid avatars, displaying different shapes an motions. Avatars are based on the SMPL-X body model format, a commonly used data-driven parametric human body model that provides a compact representation of 3D human shape and pose.

This repository provides a set of stand-alone avatars and motion files to represent humanoids walking and reaching to objects in the Habitat simulator. However, you can also generate new humanoids using the SMPL-X code base, or use motions coming from motion capture or motion generation models.

Contents

We provide a total of 12 textured avatars of neutral, female and male gender and covering different body shapes. For each avatar, we provide a motion file that allows to drive the avatar to walk in a scene, or reach out to objects, using a controller.

The folder structure is as follows:

├── habitat_humanoids
│   ├── neutral_0
|   |   ├── neutral_0.ao_config.json
|   |   ├── neutral_0.glb
|   |   ├── neutral_0_motion_data_smplx.pkl 
|   |   ├── neutral_0.urdf
│   ├── *
│   ├── walk_motion
│   |   ├── CMU_10_04_stageii.npz

Where neutral_0 corresponds to the folder of one of the textured avatars.

• neutral_0.ao_config.json: contains a dictionary with information on how to link the avatar armature and skinning, and the semantic id of the avatar, when using a semantic sensor.
• neutral_0.glb: contains the skinning and texture information.
• neutral_0_motion_data_smplx.pkl: contains relevant motion data files, more information below.
• neutral_0.urdf: contains the armature, built automatically from the SMPL-X body model.
• walk_motion/CMU_10_04_stageii.npz: contains a clip file from AMASS, used to build our motion file.

Motion Data File

For each avatar, we provide a dictionary stored in *_motion_data_smplx.pkl which contains information to animate the character to walk around a scene and reach out to different positions.In particular, the dictionary contains 3 keys to store this information.

• walk_motion: contains a 130 frame clip of a person performing a walking cycle. In particular, the clip corresponds to the frames 300-430 of the file CMU/10/10_04_stageii.npz from AMASS dataset. We provide the raw data in this repository, released under a license detailed below.
• stop_pose: contains a standing position, taken from s single frame from the motion clip above mentioned.
• left_hand: Contains a grid of poses 48 generated using VPoser, where each pose is optimized to reach a given poisition in 3D. In HumanoidRearrangeController, we provide code to interpolate over these poses to reach multiple 3D positions.
• right_hand: Contains the same grid of poses to reach positions with the right hand.

Usage

Clone this file under data/. We provide several files in the habitat-lab repository to instantiate and move the avatars around the scene.

License

The 12 provided avatars, along with their textures, and the reaching positions stored in left_hand and right_hand are released under a CC-BY-NC 4.0 License.

The motion data stored in walk_motion and stop_pose, as well as the original file CMU_10_04_stageii.npz is released under the SMPL Body Motion File License, a Creative Commons Attribution 4.0 International License. For support or inquiries about more SMPL Body Mo.on Files for commercial use, please contact [email protected]. git