Motivation
First of all, thank you to the authors for releasing ARDY and its pretrained models.
ARDY provides a very useful interactive workflow for generating long-horizon human motion with text prompts and kinematic constraints. While experimenting with ARDY Core, I wanted to use the generated motion in downstream SMPL-X-based tools, including Blender, MuJoCo, and humanoid robot retargeting pipelines.
To make this workflow more direct, I implemented an ARDY Core to SMPL-X conversion and visualization pipeline.
Supported workflow
The converter supports the following ARDY motion inputs:
- ARDY GUI session
.pkl
- ARDY Core
.npz
- ARDY-compatible
.bvh
It can generate:
- Standard SMPL-X motion
- Blender-compatible SMPL-X motion
- GMR-compatible SMPL-X motion
The generated results can then be used for:
- Importing and visualizing SMPL-X motion in Blender
- Directly previewing the SMPL-X body joints and bones in MuJoCo
- Retargeting the motion to Unitree G1 through GMR
- Viewing the retargeted G1 motion in MuJoCo
Implementation
The implementation adds:
scripts/ardy_to_smplx.pyscripts/view_smplx_mujoco.py- Optional
smplx and mujoco dependencies
- Basic usage instructions in the README
Example:
python scripts/ardy_to_smplx.py \
session.pkl \
--smplx-model-path /path/to/body_models \
--model-ext npz \
--gender neutral \
--output motion_smplx.npz \
--export both
This generates:
motion_smplx.npz
motion_smplx_blender_zup.npz
motion_smplx_gmr_zup.npz
Validation
I tested the workflow with:
- ARDY GUI session PKL input
- Neutral SMPL-X NPZ body model
- Standard, Blender-compatible, and GMR-compatible output generation
- Blender SMPL-X import
- Direct SMPL-X visualization in MuJoCo
- GMR retargeting to Unitree G1
- Unitree G1 visualization in MuJoCo
The scripts also pass the repository pre-commit checks.
Pull request
I have opened a pull request containing the implementation:
Related pull request: #12
I would appreciate feedback from the maintainers on whether this workflow would be useful as an optional ARDY export utility, and whether the current script location, dependency configuration, and output formats fit the direction of the project.
Thank you again for releasing ARDY and for making this work available to the community.
Motivation
First of all, thank you to the authors for releasing ARDY and its pretrained models.
ARDY provides a very useful interactive workflow for generating long-horizon human motion with text prompts and kinematic constraints. While experimenting with ARDY Core, I wanted to use the generated motion in downstream SMPL-X-based tools, including Blender, MuJoCo, and humanoid robot retargeting pipelines.
To make this workflow more direct, I implemented an ARDY Core to SMPL-X conversion and visualization pipeline.
Supported workflow
The converter supports the following ARDY motion inputs:
.pkl.npz.bvhIt can generate:
The generated results can then be used for:
Implementation
The implementation adds:
scripts/ardy_to_smplx.pyscripts/view_smplx_mujoco.pysmplxandmujocodependenciesExample:
This generates:
Validation
I tested the workflow with:
The scripts also pass the repository pre-commit checks.
Pull request
I have opened a pull request containing the implementation:
Related pull request: #12
I would appreciate feedback from the maintainers on whether this workflow would be useful as an optional ARDY export utility, and whether the current script location, dependency configuration, and output formats fit the direction of the project.
Thank you again for releasing ARDY and for making this work available to the community.