motion_viewer

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motion_viewer is a web-based visualization tool for robot models and motion data.

Its core purpose is to quickly load robot models in the browser and play motion sequences for model validation, data inspection, debugging, and demos.

Usage

LAFAN1

• Download LAFAN1 or lafan1-resolved.
• Drag and drop .bvh file.

Unitree-LAFAN1-Retargeting

• Download Unitree-LAFAN1-Retargeting.
• Drag and drop g1/h1/h1_2 folder under robot_description to load urdf.
• Drag and drop any motion file (.csv) under corrospond folder.

AMASS

• Download SMPL model SMPL-H (.npz), SMPL-X and AMASS dataset.
• According which motion you want to play, drag and drop corrospond model folder first, then drag and drop the motion file (.npz).
  • eg. To visualize AMASS/ACCAD/SMPL-X G/Female1General_c3d/A1_-_Stand_stageii.npz, choose SMPL-X.

OMOMO

• Download SMPL-X model.
• OMOMO dataset includes all motions in one .p file so it's to big to load using browser.
• You can download original dataset OMOMO (~21G) and use scripts to transfer and split it.

pip install joblib
python3 tools/convert_omomo_seq_to_motion_npz.py \
  --data-root <path-to-omomo-dir> \
  --output-dir-name <path-to-output-dir> \
  --overwrite

• Or you can download the preprocessed dataset omomo-resolved.
• Drag and drop SMPL-X model folder.
• Drag and drop captured_objects object model folder.
• Drag and drop motion file (.npz).

Preset

• dance1_subject1.bvh bvh from LAFAN1.
• g1,h1,h1_2 urdf and corrospnd dance1_subject1.csv from Unitree-LAFAN1-Retargeting.
• SMPL-X Female model from SMPL-X.
• SMPL-X G/Male2MartialArtsExtended_c3d/Extended_3_stageii.npz from ACCAD.
• largetable_cleaned_simplified.obj from OMOMO.
• sub1_largetable_013.npz from omomo-resolved.

These motions are provided for website feature demonstration only. No model or motion downloads are offered. Please obtain assets from the original source and follow its license terms. For infringement concerns, contact rkzdtc@gmail.com.

Playback controls

• Space: play/pause
• R: reset to frame 1
• Tab: switch view mode (root lock / free)
• Shift: toggle SMPL mesh/skeleton
• Motion slider: seek by frame
• Motion panel:
  • FPS input for CSV playback speed
  • BVH Unit dropdown (m, dm, cm, inch, feet)

Run locally

1. Install npm.
2. Install dependencies, build and start dev server:

npm install
npm run build
npm run dev

3. Open the URL printed by Vite.

References

• robot_viewer
• urdf-loaders
• BVHView
• amass
• body_visualizer
• human_body_prior
• omomo_release
• GMR
• This project was completed using Codex vibe coding.