add xsens motions retargeting function

[HBUTHUANGPX]

1. add xsens bvh parse function
2. add xsens bvh visualization based on mujoco
3. add xsens bvh retargeting script
4. update README.md

[YanjieZe]

Hi, thank you for contributing!
Do you mind giving me a xsens bvh file for testing the code?

[jiminghe]

Hi, thank you for contributing! Do you mind giving me a xsens bvh file for testing the code?

Hi,
You could find the 3 different types of bvh data files(3ds Max, Motion Builder, Poser 6) here:
https://drive.google.com/drive/folders/1YV89re0p24kx1MyDEiwStd6kTRn-lvrW?usp=sharing

If you need trial license of Xsens MVN software, we could also provide to you.

[jiminghe]

(gmr) alien@m15-ubuntu24:~/mvn_ws/GMR$ python scripts/xsens_bvh_to_robot.py
--robot unitree_g1
--scale 0.01
--reset_to_zero
--bvh_format 3DSM
--bvh_file /home/alien/mvn_ws/GMR/xsens_bvh_test/251021_04_boxing_120Hz_cm_3DsMax.bvh
--record_video
--video_path retargeting_data/h1/251021_04_boxing_120Hz_cm_3DsMax_G1.mp4
MOTION has 4249 frames
MOTION frame time is 0.008333 s/frame
MOTION_data_post_processing
actual_human_height:1.7714062389839504
human_height_assumption:1.8
ratio:0.9841145772133058
Recording video to retargeting_data/h1/251021_04_boxing_120Hz_cm_3DsMax_G1.mp4
mocap_frame_rate: 120
Retargeting: 0%| | 0/4249 [00:00<?, ?it/s]Traceback (most recent call last):
File "/home/alien/mvn_ws/GMR/scripts/xsens_bvh_to_robot.py", line 171, in
qpos = retargeter.retarget(smplx_data)
File "/home/alien/mvn_ws/GMR/general_motion_retargeting/motion_retarget.py", line 185, in retarget
self.update_targets(human_data, offset_to_ground)
File "/home/alien/mvn_ws/GMR/general_motion_retargeting/motion_retarget.py", line 170, in update_targets
pos, rot = human_data[body_name]
KeyError: 'LeftUpLeg'
Segmentation fault (core dumped)

@HBUTHUANGPX
请帮忙测一下， G1还不行

[HBUTHUANGPX]

我更新了ik_configs/xsens_bvh_to_g1.json,对G1进行了粗略的适配

[jiminghe]

我更新了ik_configs/xsens_bvh_to_g1.json,对G1进行了粗略的适配

您好！感谢您的更新！
json文件里面有4处LeftWrist, RightWrist写反了，换过来之后重定向就正常了
bvh数据以及导出的mp4可以在Google Drive查看：
https://drive.google.com/drive/folders/1YV89re0p24kx1MyDEiwStd6kTRn-lvrW?usp=sharing
目前经过测试bvh to G1, bvh to H1都正常工作了。

不知道是否可以另外提供一个详细的文档讲解GUI Offset调整的步骤，以及xsens_bvh_to_g1.json里面的各个参数是如何调整的呢？
感谢

[HBUTHUANGPX]

在GUI中，我设有一个旋钮用来调整当前通道整体的角度数值偏移，设有一个下拉框用来选择想要调整的关节，另一个下拉框用来选择调整xyz轴的角度。在过去采集数据的过程中发现，一些穿着动捕服的人的体态存在一些缺陷。例如，脊柱侧弯、盆骨侧旋、左右步幅不一致等等。这些缺陷在动捕数据和retargeting后会变得十分显著，而通常大家会使用一些专业软件例如motion builder、maya、blender来精修动捕数据。这里我制作的gui功能较为简陋，但使用起来十分便捷。你可以根据你采的数据的情况来进行微调。

[HBUTHUANGPX]

感谢你找到的bug，太匆忙没有注意到