This is a code of retargeting motion on NAO robot and this code is based on this paper:
Peng, Xue & Coumans, Erwin & Zhang, Tingnan & Lee, Tsang-Wei & Tan, Jie & Levine, Sergey. (2020). Learning Agile Robotic Locomotion Skills by Imitating Animals.https://arxiv.org/pdf/2004.00784.pdf
First step: Download the bvh file from https://mocap.cs.sfu.ca/, and run the main.py in retarget_motion/bvh_converter/ to convert the bvh data into 3D data
Second step: run the angle2radian.py in retarget_motion/util/ to convert angle into radian and delete some unused columns.
Third step: run the run_nao_retarget.py in retarget_motion/ to acquire motion of the target joint angle.
Forth step: run the run.py in motion_imitation/ to train or test.