ardy2bvh

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Convert NVIDIA ARDY motion output (.npz) to BVH/FBX for Blender, Unity, Unreal

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# ardy2bvh

Convert [NVIDIA ARDY](https://github.com/nv-tlabs/ardy) motion output (`.npz`) to **BVH** and **FBX**, so you can use real-time text-generated motion in Blender, Unity, Unreal, or any animation tool.

ARDY generates impressive real-time, text-and-constraint-driven human motion, but it only writes `.npz` files and (for the G1 robot) MuJoCo CSVs. There is currently no path from the humanoid "Core" skeleton output to standard animation formats. This tool fills that gap.

## Why this is convenient

The Core skeleton's bone names (`Hips`, `Spine`, `RightUpLeg`, `LeftForeArm`, ...) follow the standard Mixamo-style naming convention. The BVH produced here retargets almost 1:1 onto standard humanoid rigs, so most retargeting tools map the bones automatically.

## Install

```bash
pip install numpy scipy
```

No torch, no ARDY install required. For FBX export you also need [Blender](https://www.blender.org/) (free) on your PATH.

## Usage

```bash
# 1. Generate motion with ARDY (see their repo)
python scripts/generate.py "A person dances energetically." --output dance

# 2. Convert to BVH
python ardy2bvh.py outputs/dance.npz            # -> outputs/dance.bvh
python ardy2bvh.py outputs/waves/ -o bvh/       # whole folder

# 3. (Optional) Convert to FBX via headless Blender
python bvh2fbx.py outputs/dance.bvh             # -> outputs/dance.fbx
```

Options for `ardy2bvh.py`:

| Flag | Meaning |
|---|---|
| `-o, --output` | output path (file or folder) |
| `--scale` | unit scale, e.g. `100` for meters→centimeters |

## Suggested pipeline for game characters

1. Generate motions with ARDY (`generate.py`, batch-friendly).
2. Convert to BVH with this tool.
3. Retarget the motion onto your own rigged character with any standard retargeting tool (a Blender add-on or a game engine's built-in retargeter). Because the bone names follow the Mixamo naming convention, the bone mapping is picked up automatically in most tools.
4. Export FBX / glTF for your engine.

## Supported skeletons

- ✅ Core (cskel27) — `ARDY-Core-RP-*` models
- ❌ G1 robot — use ARDY's built-in MuJoCo CSV export
- ⏳ SOMA — planned once NVIDIA releases the SOMA-skeleton checkpoints

## Notes / limitations

- Coordinate system: ARDY is Y-up, Z-forward, right-handed; BVH output preserves this (Blender BVH importer default settings work).
- Root motion (Hips world translation) is preserved in the root channels.
- `foot_contacts` from the npz are not exported (BVH has no slot for them); use ARDY's `--postprocess` (default on) to reduce foot skating before export.
- Early release: validated against ARDY's own BVH parser and forward-kinematics comparison. Issues and PRs welcome.

## License

Apache-2.0. Skeleton definition and rest pose extracted from the Apache-2.0 licensed [ARDY repository](https://github.com/nv-tlabs/ardy) (© NVIDIA Corporation & Affiliates).

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