Limiting motion of certain joints

[ShlokRaval0308]

Hello!

When we retarget certain trajectories onto a humanoid, the outcome we are receiving is performing the task with excessive joint movements. For instance, a walking retargetted trajectory with excessive hip yaw. Is there anyway we can limit certain joint movements/motions?

Thank you!

[tesslerc]

Yes, certainly.
Our retargeting example is using Mink. https://github.com/NVlabs/ProtoMotions/blob/main/data/scripts/retargeting/mink_retarget.py

You can tweak Mink to your needs. Adding losses or variable weighting between joints to make it behave more to your liking.
Since there isn't a 1-size-fits-all solution, we provided what we are using internally, with the hope that users can adapt it to their specific needs.