🤖 Create SMPLH Fit

This section guides you through creating a fit between SMPL+H human body parameters and your robot's skeleton. This fitting process is crucial for transferring human motion data to robot controls, establishing the correspondence between human joints and robot links.

🚀 One-Click Solution Available

We've added one-click startup script support for this process in our new GBC_MUJICA project! For a streamlined experience, check out the automated scripts at:

https://github.com/sjtu-mvasl-robotics/GBC_MUJICA

For detailed API reference and advanced configuration options, please refer to our comprehensive documentation in the API References → create_smplh section.

📋 What This Process Achieves

The SMPLH fitting process optimizes three key parameter sets:

🧬 Beta Parameters (16-dimensional): Shape parameters that define body morphology
🎨 DMPL Parameters (8-dimensional): Surface deformation parameters for realistic skin
📏 Scale Factor (1-dimensional): Scaling to match robot size

1. 🔧 Prerequisites and Verification

Before starting the fitting process, ensure all required data is properly configured from the Installation section.

Step 1: Verify Forward Kinematics

First, test that your robot's URDF can be loaded correctly:

from GBC.utils.base.base_fk import RobotKinematics as FK

# Initialize forward kinematics
device = "cuda"  # or "cpu"
urdf_path = "/path/to/your/robot.urdf"

fk = FK(urdf_path, device=device)
print(f"✅ Successfully loaded URDF: {urdf_path}")

Step 2: Validate Kinematic Tree

Verify the kinematic tree is complete and functional:

# Test the kinematic tree structure
try:
    fk.set_target_links(fk.get_dof_related_link_names())
    print("✅ Kinematic tree validation successful")
    print(f"📊 DOF count: {fk.num_dofs}")
    print(f"🔗 Available links: {len(fk.get_dof_related_link_names())}")
except Exception as e:
    print(f"❌ Kinematic tree validation failed: {e}")
    print("🔍 Please check your URDF file for errors")

Step 3: Visualize Your URDF

For quick URDF validation and visualization, we recommend using the excellent online tool:

🌐 URDF Visualizer: http://urdf.robotsfan.com/

Simply drag and drop your URDF file to visualize the robot structure and verify joint names.

2. 🗺️ Create Joint Mapping Table

The joint mapping table is the most critical component of this process. It defines the correspondence between SMPL+H joints and your robot's links.

⚠️ Critical Configuration

Incorrect joint mapping will prevent successful motion transfer and cause training failures. Take time to verify this mapping carefully!

SMPL+H Joint Reference

Example Mapping Configuration

# Example mapping for a humanoid robot
mapping_table = {
    # Core body joints
    'Pelvis': 'base_link',
    'L_Hip': 'left_hip_yaw_link', 
    'R_Hip': 'right_hip_yaw_link',
    'L_Knee': 'left_knee_pitch_link',
    'R_Knee': 'right_knee_pitch_link',
    'L_Ankle': 'left_ankle_pitch_link',
    'R_Ankle': 'right_ankle_pitch_link',
    
    # Upper body joints
    'L_Shoulder': 'left_shoulder_pitch_link',
    'R_Shoulder': 'right_shoulder_pitch_link', 
    'L_Elbow': 'left_elbow_pitch_link',
    'R_Elbow': 'right_elbow_pitch_link',
    'L_Wrist': 'left_wrist_roll_link',
    'R_Wrist': 'right_wrist_roll_link',
    
    # Optional: head and additional joints
    'Head': 'head_yaw_link',  # if your robot has a head
    'L_Toe': 'left_ankle_roll_link',  # if you want toe mapping
    'R_Toe': 'right_ankle_roll_link',
}

Joint Weight Configuration

Define importance weights for different joints during optimization:

import torch

# Higher weights = higher importance during fitting
# End effectors typically get higher weights
joint_weights = torch.tensor([
0,  # Pelvis - base reference
0,  # L_Hip - structural
0,  # R_Hip - structural  
5,  # L_Knee - important for leg kinematics
5,  # R_Knee - important for leg kinematics
0,  # L_Ankle - end effector, high precision needed
0,  # R_Ankle - end effector, high precision needed
0,  # L_Shoulder - structural
0,  # R_Shoulder - structural
5,  # L_Elbow - important for arm kinematics  
5,  # R_Elbow - important for arm kinematics
0,  # L_Wrist - end effector, precision needed
0,  # R_Wrist - end effector, precision needed
], device=device)

3. 🔄 Configure Pose Alignments

This step aligns SMPL+H and robot joint orientations for accurate fitting.

Zero Pose Rotation Map

Define rotations to align SMPL+H joints with your robot's zero position:

import numpy as np

# Rotation map: SMPL+H joint name -> [x, y, z] Euler angles in radians
rotation_map = {
    'L_Shoulder': [0, 0, np.pi / 10],    # Slight outward rotation
    'R_Shoulder': [0, 0, -np.pi / 10],   # Slight outward rotation
    'L_Elbow': [0, np.pi / 2, 0],        # 90-degree elbow bend
    'R_Elbow': [0, -np.pi / 2, 0],       # 90-degree elbow bend
}

T-Pose Action Configuration

Define robot joint actions to achieve T-pose (arms extended horizontally):

# Create T-pose action vector
t_pose_action = torch.zeros(fk.num_dofs, device=device)
dof_names = fk.get_dof_names()

# Example T-pose configuration
t_pose_configs = {
    'left_shoulder_roll': np.pi / 2,     # Left arm horizontal
    'right_shoulder_roll': -np.pi / 2,   # Right arm horizontal
    'left_elbow_pitch': 0,               # Straight arm
    'right_elbow_pitch': 0,              # Straight arm
}

# Apply T-pose configurations
for joint_name, angle in t_pose_configs.items():
    if joint_name in dof_names:
        t_pose_action[dof_names.index(joint_name)] = angle
    else:
        print(f"⚠️ Warning: Joint '{joint_name}' not found in DOF names")

Additional Fitting Poses (Optional)

For improved fitting accuracy, add extra poses:

# Additional poses for better fitting
additional_fitting_poses = [
    # Pose 1: Arms at sides
    ({
        'L_Shoulder': [0, 0, 0],
        'R_Shoulder': [0, 0, 0],
    }, torch.zeros(fk.num_dofs, device=device)),
    
    # Pose 2: Arms forward
    ({
        'L_Shoulder': [np.pi/3, 0, 0],
        'R_Shoulder': [np.pi/3, 0, 0],
    }, torch.tensor([0, 0, np.pi/3, np.pi/3] + [0] * (fk.num_dofs - 4), device=device))
]

4. 🏗️ Create and Run Fitter

Now create the SMPLH fitter and execute the fitting process:

from GBC.utils.data_preparation.create_smplh import SMPLHFitter

# Initialize the fitter
fitter = SMPLHFitter(
    smplh_model_path=smplh_model_path,
    dmpls_model_path=dmpls_model_path,
    urdf_path=urdf_path,
    device=device
)

# Set the critical joint mapping
fitter.set_mapping_table(mapping_table)

# Execute the fitting process
print("🚀 Starting SMPLH fitting process...")
fit_result = fitter.fit(
    max_iter=30000,
    verbose=True,
    lr=0.01,
    rotation_map=rotation_map,
    t_pose_action=t_pose_action,
    joint_weights=joint_weights,
    additional_fitting_poses=additional_fitting_poses  # Optional
)

print("✅ Fitting process completed!")

Save and Visualize Results

# Save the fitting results
save_path = "path/to/your/smplh_fit_result.pt"
fitter.save_fit_result(path=save_path)
print(f"💾 Results saved to: {save_path}")

# Visualize the results
try:
    # Interactive 3D visualization
    fitter.visualize_open3d()
    print("🎨 Interactive visualization opened")
except Exception as e:
    print(f"⚠️ 3D visualization failed: {e}")

try:
    # Mesh visualization
    fitter.visualize_fit_model()
    print("🖼️ Mesh visualization completed")
except Exception as e:
    print(f"⚠️ Mesh visualization failed: {e}")

📊 Expected Results

After successful fitting, you should see results similar to this:

Example of successful SMPLH fitting showing alignment between human model and robot skeleton

⚖️ Performance Evaluation

Convergence Metrics

Monitor these key indicators during fitting:

# Check final loss values
print("📊 Fitting Performance:")
print(f"Final loss per pose: {fit_result.get('final_loss', 'N/A')}")
print(f"Optimization iterations: {fit_result.get('iterations', 'N/A')}")

Quality Assessment

✅ Good Fit Indicators

Loss per pose < 0.05: Excellent alignment
Convergence within 20,000 iterations: Normal performance
Training time: 1-2 minutes: Expected duration

❌ Warning Signs

Loss per pose > 0.05: Check mapping table configuration
No convergence after 30,000 iterations: Verify joint weights and constraints
Extremely high initial loss: Check URDF structure and joint names

🔧 Troubleshooting

Common Issues and Solutions

Issue: High loss values (> 0.05 per pose)

# Solution: Verify mapping table
print("🔍 Debugging mapping table:")
for smplh_joint, robot_link in mapping_table.items():
    print(f"  {smplh_joint} → {robot_link}")
    
# Check if robot links exist in URDF
robot_links = fk.get_link_names()
for robot_link in mapping_table.values():
    if robot_link not in robot_links:
        print(f"❌ Error: '{robot_link}' not found in URDF")

Issue: Convergence problems

# Solution: Adjust learning rate and weights
fitter.fit(
    max_iter=50000,
    lr=0.005,  # Reduce learning rate
    joint_weights=joint_weights * 0.5,  # Reduce weight magnitudes
    verbose=True
)

Issue: Visualization errors

# Solution: Check system dependencies
try:
    import open3d
    import trimesh
    print("✅ Visualization dependencies available")
except ImportError as e:
    print(f"❌ Missing dependency: {e}")
    print("💡 Install with: pip install open3d trimesh")

🎯 Next Steps

Once you have successfully created your SMPLH fit:

📁 Save the results: Keep the .pt file safe for future use
🔗 Update configuration: Add the fit path to your data configuration
🚀 Proceed to motion conversion: Use this fit for human motion retargeting
🏃‍♂️ Start training: Begin behavior cloning with properly aligned motion data

The SMPLH fit is now ready to enable human-to-robot motion transfer in your GBC workflows!

📋 What This Process Achieves​

1. 🔧 Prerequisites and Verification​

Step 1: Verify Forward Kinematics​

Step 2: Validate Kinematic Tree​

Step 3: Visualize Your URDF​

2. 🗺️ Create Joint Mapping Table​

SMPL+H Joint Reference​

Example Mapping Configuration​

Joint Weight Configuration​

3. 🔄 Configure Pose Alignments​

Zero Pose Rotation Map​

T-Pose Action Configuration​

Additional Fitting Poses (Optional)​

4. 🏗️ Create and Run Fitter​

Save and Visualize Results​

📊 Expected Results​

⚖️ Performance Evaluation​

Convergence Metrics​

Quality Assessment​

🔧 Troubleshooting​

Common Issues and Solutions​

🎯 Next Steps​