add fbx (#94)

* first version

* working setup

* working hacky setup

* builds both mac and amd

* add final steps for training

* lint

* fix linting

third_party/expressive_humanoid/.gitignore

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+sip-4.19.3.tar.gz
+fbx202032_fbxpythonbindings_linux.tar.gz
+fbx202032_fbxsdk_linux.tar.gz
+CMU_fbx.zip

third_party/expressive_humanoid/Dockerfile

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+# docker build -t fbx_image .
+# docker run -it fbx_image
+ARG TARGETPLATFORM
+FROM --platform=${TARGETPLATFORM:-linux/amd64} ubuntu:20.04 AS base
+
+# Set environment variables
+ENV DEBIAN_FRONTEND=noninteractive \
+    HOME="/home/user" \
+    FBX_SDK_VERSION="2020.3.2" \
+    SIP_VERSION="4.19.3" \
+    PYTHON_VERSION="3.8" \
+    FBX_SDK_PATH="$HOME/fbx_setup/fbx_sdk" \
+    FBX_PYTHON_BINDING_PATH="$HOME/fbx_setup/fbx_python_bindings" \
+    SIP_ROOT="$HOME/fbx_setup/sip" \
+    FBXSDK_ROOT="$FBX_SDK_PATH" \
+    SIP_PATH="$SIP_ROOT/sip-$SIP_VERSION" \
+    PYTHON_EXECUTABLE="/home/user/miniconda/envs/humanoid/bin/python"
+
+# Update and install dependencies
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+        build-essential \
+        libxml2-dev \
+        zlib1g-dev \
+        wget \
+        python${PYTHON_VERSION} \
+        python${PYTHON_VERSION}-dev \
+        python3-pip \
+        libssl-dev \
+        vim \
+        libcurl4-openssl-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+# Create necessary directories
+RUN mkdir -p $FBX_SDK_PATH $FBX_PYTHON_BINDING_PATH $SIP_ROOT
+
+# Install Miniconda
+RUN wget -qO- https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O miniconda.sh && \
+    /bin/bash miniconda.sh -b -p $HOME/miniconda && \
+    rm miniconda.sh && \
+    $HOME/miniconda/bin/conda init bash
+
+FROM base AS install_fbx
+
+# Make sure the base environment is activated by default
+SHELL ["/bin/bash", "-c"]
+
+# Install packages inside the Conda environment
+RUN /bin/bash -c "source ~/.bashrc && \
+    conda create -n humanoid python=3.8 -y && \
+    conda activate humanoid && \
+    conda install -y pytorch==1.10.0 torchvision==0.11.1 torchaudio==0.10.0 cudatoolkit=11.3 -c pytorch && \
+    conda install -y 'numpy<1.24' && \
+    conda install -c conda-forge gxx_linux-64=12.1.0 -y && \
+    pip install pydelatin wandb tqdm opencv-python ipdb pyfqmr flask dill gdown pandas matplotlib ruamel.yaml xlrd scipy"
+
+FROM install_fbx AS base_conda
+
+# Install FBX SDK
+WORKDIR $FBX_SDK_PATH
+COPY fbx202032_fbxsdk_linux.tar.gz $FBX_SDK_PATH/
+RUN tar xzf fbx202032_fbxsdk_linux.tar.gz && \
+    chmod +x fbx202032_fbxsdk_linux
+COPY install_fbx.sh .
+RUN chmod +x install_fbx.sh && ./install_fbx.sh
+
+FROM base_conda AS fbx_python_bindings
+
+# Install FBX Python Bindings
+WORKDIR $FBX_PYTHON_BINDING_PATH
+COPY fbx202032_fbxpythonbindings_linux.tar.gz $FBX_PYTHON_BINDING_PATH/
+RUN tar xzf fbx202032_fbxpythonbindings_linux.tar.gz && \
+    chmod +x fbx202032_fbxpythonbindings_linux
+COPY install_fbx_bindings.sh .
+RUN chmod +x install_fbx_bindings.sh && ./install_fbx_bindings.sh
+
+FROM fbx_python_bindings AS sip
+
+# Install SIP
+WORKDIR $SIP_ROOT
+RUN wget "https://sourceforge.net/projects/pyqt/files/sip/sip-${SIP_VERSION}/sip-${SIP_VERSION}.tar.gz/download" -O "sip-${SIP_VERSION}.tar.gz" && \
+    tar xzf "sip-${SIP_VERSION}.tar.gz" && \
+    cd sip-${SIP_VERSION} && \
+    $PYTHON_EXECUTABLE configure.py && \
+    make && \
+    make install
+
+ENV SIP_ROOT="$SIP_ROOT/sip-$SIP_VERSION"
+
+FROM sip AS build_fbx
+
+# Build the SDK
+WORKDIR $FBX_PYTHON_BINDING_PATH
+RUN $PYTHON_EXECUTABLE PythonBindings.py "Python3_x64" buildsip
+
+# Modify the Makefile to fix linking order
+WORKDIR $FBX_PYTHON_BINDING_PATH/build/Python38_x64
+RUN make clean && \
+    sed -i 's|\(LIBS = -L[^ ]*\) -lz -lxml2 \([^ ]*\)|\1 \2 -lz -lxml2|' Makefile
+
+# Build and install
+RUN make install
+
+# Build the SDK
+WORKDIR $FBX_PYTHON_BINDING_PATH
+RUN $PYTHON_EXECUTABLE PythonBindings.py "Python3_x64" buildsip
+
+FROM build_fbx AS rebuild_fbx
+
+# Install git
+WORKDIR $HOME
+RUN apt-get update && apt-get install -y git unzip
+RUN git clone https://github.com/Ke-Wang1017/expressive_humanoid.git expressive_humanoid
+
+WORKDIR $HOME/expressive_humanoid/ASE/ase/poselib/data/
+COPY CMU_fbx.zip .
+RUN mkdir -p cmu_fbx_all && unzip CMU_fbx.zip -d cmu_fbx_all/
+
+WORKDIR $HOME/expressive_humanoid/ASE/ase/poselib/
+COPY test_fbx.py .
+RUN $PYTHON_EXECUTABLE test_fbx.py && echo "FBX works"
+
+# Set the default command to bash
+COPY parse_cmu_mocap_all_2.py $HOME/expressive_humanoid/ASE/ase/poselib/
+COPY fbx_importer_all_2.py $HOME/expressive_humanoid/ASE/ase/poselib/
+
+FROM rebuild_fbx AS final
+
+RUN $PYTHON_EXECUTABLE parse_cmu_mocap_all_2.py
+RUN $PYTHON_EXECUTABLE fbx_importer_all_2.py
+RUN mkdir -p pkl retarget_npy
+RUN $PYTHON_EXECUTABLE retarget_motion_stompy_all.py
+
+WORKDIR $HOME/expressive_humanoid/legged_gym/legged_gym/scripts
+# Train for 1 iteration and kill the program to have a dummy model to load.
+RUN $PYTHON_EXECUTABLE train.py debug --task stompy_view --motion_name motions_debug.yaml --debug
+
+# Run the play script to visualize the motion
+RUN $PYTHON_EXECUTABLE play.py debug --task stompy_view --motion_name motions_debug.yaml
+
+RUN $PYTHON_EXECUTABLE train.py 060-40-some_descriptions_of_run --device cuda:0 --entity WANDB_ENTITY
+RUN $PYTHON_EXECUTABLE play.py 060-40 --task stompy_mimic --record_video
+
+FROM final AS amp
+
+CMD ["/bin/bash"]

third_party/expressive_humanoid/LICENSE

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+# This file is kept for experimental purposes. All software contained within complies with their respective licenses.
+# The following software is included:
+# - Expressive Humanoid (https://github.com/chengxuxin/expressive-humanoid)
+# - Expressive Humanoid (https://github.com/Ke-Wang1017/expressive_humanoid)
+# - CMU Motion Capture Data
+# - ASE
+# - FBX SDK
+# - SIP

third_party/expressive_humanoid/download_assets.sh

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+echo "Starting download of CMU_fbx.zip"
+aws s3 cp s3://kscale-public/expressive_humanoid/CMU_fbx.zip . &
+echo "Starting download of fbx202032_fbxpythonbindings_linux.tar.gz"
+aws s3 cp s3://kscale-public/expressive_humanoid/fbx202032_fbxpythonbindings_linux.tar.gz . &
+echo "Starting download of fbx202032_fbxsdk_linux.tar.gz"
+aws s3 cp s3://kscale-public/expressive_humanoid/fbx202032_fbxsdk_linux.tar.gz . &
+echo "Starting download of sip-4.19.3.tar.gz"
+aws s3 cp s3://kscale-public/expressive_humanoid/sip-4.19.3.tar.gz . &
+
+wait
+echo "All downloads completed"

third_party/expressive_humanoid/fbx_importer_all_2.py

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+"""This script converts CMU Motion Capture data from FBX format to NPY format. """
+import sys
+import os
+from tqdm import tqdm
+from poselib.skeleton.skeleton3d import SkeletonMotion
+import multiprocessing
+
+sys.path.append("/home/user/fbx_setup/fbx_python_bindings/build/Distrib/site-packages/fbx/")
+
+def process_file(i, fbx_file, all_fbx_path):
+    if fbx_file.endswith(".fbx"):
+        print(i, fbx_file)
+        motion = SkeletonMotion.from_fbx(
+            fbx_file_path=os.path.join(all_fbx_path, fbx_file),
+            root_joint="Hips",
+            fps=60
+        )
+        motion.to_file(f"data/npy/{fbx_file[:-4]}.npy")
+
+def main():
+    all_fbx_path = "data/cmu_fbx_all/"
+    all_fbx_files = sorted(os.listdir(all_fbx_path))
+
+    all_fbx_filtered = []
+    for fbx in all_fbx_files:
+        npy = fbx.split(".")[0] + ".npy"
+        target_motion_file = os.path.join(all_fbx_path, "../npy/", npy)
+        if os.path.exists(target_motion_file):
+            print("Already exists, skip: ", fbx)
+            continue
+        all_fbx_filtered.append(fbx)
+
+    print(len(all_fbx_filtered))
+
+    for fbx_file in tqdm(all_fbx_filtered):
+        process_file(None, fbx_file, all_fbx_path)
+
+    n_workers = multiprocessing.cpu_count()
+    with multiprocessing.Pool(n_workers) as pool:
+        list(tqdm(pool.starmap(process_file, [(i, fbx_file, all_fbx_path) for i, fbx_file in enumerate(all_fbx_filtered)]), total=len(all_fbx_filtered)))
+
+if __name__ == "__main__":
+    main()

third_party/expressive_humanoid/install_fbx.sh

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+#!/bin/bash
+./fbx202032_fbxsdk_linux <<EOF
+y
+yes
+y
+EOF

third_party/expressive_humanoid/install_fbx_bindings.sh

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+#!/bin/bash
+./fbx202032_fbxpythonbindings_linux <<EOF
+y
+yes
+y
+EOF

third_party/expressive_humanoid/parse_cmu_mocap_all_2.py

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+import pandas as pd
+from ruamel.yaml import YAML
+
+path = "./data/configs/"
+
+def find_entries(word, column):
+    subset = column[column.str.contains(word, na=False, case=False)]
+    num_entries = len(subset)
+    num_unique_entries = subset.nunique()
+    indices = subset.index.tolist()
+    unique_entries = subset.unique()
+    print(f"Found {num_entries} entries containing '{word}', {num_unique_entries} unique entries.")
+    return num_entries, num_unique_entries, indices, unique_entries
+
+def save_yaml(motion_ids, motion_descriptions, name):
+    yaml = YAML()
+    yaml.preserve_quotes = True
+    motions_data = {"root": "../retarget_npy/"}
+    for i, motion_id in enumerate(motion_ids):
+        descrp = motion_descriptions[i].replace("/", ", ").replace("\\", ", ")
+        motions_data[motion_id] = {
+            "trim_beg": -1,
+            "trim_end": -1,
+            "weight": 1.0,
+            "description": f"{descrp}",
+            "difficulty": 4
+        }
+    final_structure = {"motions": motions_data}
+    with open(path + f'motions_autogen_debug_{name}.yaml', 'w') as file:
+        yaml.dump(final_structure, file)
+    print('YAML file created with the specified structure.')
+
+file_path = path + "cmu-mocap-index-spreadsheet.xls"
+data = pd.read_excel(file_path)
+description_column = data.iloc[:, 1]
+motion_id_column = data.iloc[:, 0]
+
+forbidden_words = ["ladder", "suitcase", "uneven", "terrain", "stair", "stairway", "stairwell", "clean", "box", "climb", "backflip", "handstand", "sit", "hang"]
+target_words = ["walk", "navigate", "basketball", "dance", "punch", "fight", "push", "pull", "throw", "catch", "crawl", "wave", "high five", "hug", "drink", "wash", "signal", "balance", "strech", "leg", "bend", "squat", "traffic", "high-five", "low-five"]
+
+target_results = [find_entries(word, description_column) for word in target_words]
+
+print("\n Searching for forbidden words:")
+fbd_indices = []
+for word in forbidden_words:
+    fbd_indices.extend(find_entries(word, description_column)[2])
+fbd_indices = list(set(fbd_indices))
+print(f"Found {len(fbd_indices)} unique forbidden entries.")
+
+print("\n Filtering forbidden words:")
+indices_all = []
+for i, result in enumerate(target_results):
+    indices = result[2]
+    filtered_indices = [index for index in indices if index not in fbd_indices]
+    filtered_entries = description_column[filtered_indices]
+    filtered_unique_entries = list(set(filtered_entries))
+    print(f"Found {len(filtered_indices)} entries for '{target_words[i]}' after filtering, {len(filtered_unique_entries)} unique entries.")
+
+    motion_ids = motion_id_column[filtered_indices]
+    indices_all.extend(filtered_indices)
+
+    if target_words[i] in ["walk", "dance", "basketball", "punch"]:
+        save_yaml(motion_ids, filtered_entries.tolist(), target_words[i])
+
+indices_all_unique = list(set(indices_all))
+motion_ids_all_unique = motion_id_column[indices_all_unique]
+save_yaml(motion_ids_all_unique, description_column[indices_all_unique].tolist(), "all_no_run_jump")

third_party/expressive_humanoid/test_fbx.py

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+import sys
+sys.path.append("/home/user/fbx_setup/fbx_python_bindings/build/Distrib/site-packages/fbx/")
+
+import fbx
+import FbxCommon
+
+print("All modules imported successfully")