mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
more work on PyBullet implementation of DeepMimic humanoid mimic of motion capture.
b3Quaternion, deal with zero-length axis (in axis,angle constructor)
This commit is contained in:
erwincoumans
parent
f93e4e4553
commit
121cdc91b0
@ -4,6 +4,9 @@ currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentfram
|
||||
parentdir = os.path.dirname(os.path.dirname(currentdir))
|
||||
os.sys.path.insert(0,parentdir)
|
||||
|
||||
jointTypes = ["JOINT_REVOLUTE","JOINT_PRISMATIC",
|
||||
"JOINT_SPHERICAL","JOINT_PLANAR","JOINT_FIXED"]
|
||||
|
||||
class HumanoidPose(object):
|
||||
def __init__(self):
|
||||
pass
|
||||
@ -57,9 +60,9 @@ class HumanoidPose(object):
|
||||
def NormalizeQuaternion(self, orn):
|
||||
length2 = orn[0]*orn[0]+orn[1]*orn[1]+orn[2]*orn[2]+orn[3]*orn[3]
|
||||
if (length2>0):
|
||||
length = math.sqrt(length2)
|
||||
print("Normalize? length=",length)
|
||||
|
||||
length = math.sqrt(length2)
|
||||
#print("Normalize? length=",length)
|
||||
|
||||
|
||||
def PostProcessMotionData(self, frameData):
|
||||
baseOrn1Start = [frameData[5],frameData[6], frameData[7],frameData[4]]
|
||||
@ -74,7 +77,7 @@ class HumanoidPose(object):
|
||||
leftAnkleRotStart = [frameData[36],frameData[37],frameData[38],frameData[35]]
|
||||
leftShoulderRotStart = [frameData[40],frameData[41],frameData[42],frameData[39]]
|
||||
|
||||
|
||||
|
||||
def Slerp(self, frameFraction, frameData, frameDataNext,bullet_client ):
|
||||
keyFrameDuration = frameData[0]
|
||||
basePos1Start = [frameData[1],frameData[2],frameData[3]]
|
||||
@ -111,7 +114,7 @@ class HumanoidPose(object):
|
||||
rightKneeRotStart = [frameData[20]]
|
||||
rightKneeRotEnd = [frameDataNext[20]]
|
||||
self._rightKneeRot = [rightKneeRotStart[0]+frameFraction*(rightKneeRotEnd[0]-rightKneeRotStart[0])]
|
||||
self._rightKneeVel = (rightKneeRotEnd[0]-rightKneeRotStart[0])/keyFrameDuration
|
||||
self._rightKneeVel = [(rightKneeRotEnd[0]-rightKneeRotStart[0])/keyFrameDuration]
|
||||
|
||||
rightAnkleRotStart = [frameData[22],frameData[23],frameData[24],frameData[21]]
|
||||
rightAnkleRotEnd = [frameDataNext[22],frameDataNext[23],frameDataNext[24],frameDataNext[21]]
|
||||
@ -126,7 +129,7 @@ class HumanoidPose(object):
|
||||
rightElbowRotStart = [frameData[29]]
|
||||
rightElbowRotEnd = [frameDataNext[29]]
|
||||
self._rightElbowRot = [rightElbowRotStart[0]+frameFraction*(rightElbowRotEnd[0]-rightElbowRotStart[0])]
|
||||
self._rightElbowVel = (rightElbowRotEnd[0]-rightElbowRotStart[0])/keyFrameDuration
|
||||
self._rightElbowVel = [(rightElbowRotEnd[0]-rightElbowRotStart[0])/keyFrameDuration]
|
||||
|
||||
leftHipRotStart = [frameData[31],frameData[32],frameData[33],frameData[30]]
|
||||
leftHipRotEnd = [frameDataNext[31],frameDataNext[32],frameDataNext[33],frameDataNext[30]]
|
||||
@ -136,7 +139,7 @@ class HumanoidPose(object):
|
||||
leftKneeRotStart = [frameData[34]]
|
||||
leftKneeRotEnd = [frameDataNext[34]]
|
||||
self._leftKneeRot = [leftKneeRotStart[0] +frameFraction*(leftKneeRotEnd[0]-leftKneeRotStart[0]) ]
|
||||
self._leftKneeVel = (leftKneeRotEnd[0]-leftKneeRotStart[0])/keyFrameDuration
|
||||
self._leftKneeVel = [(leftKneeRotEnd[0]-leftKneeRotStart[0])/keyFrameDuration]
|
||||
|
||||
leftAnkleRotStart = [frameData[36],frameData[37],frameData[38],frameData[35]]
|
||||
leftAnkleRotEnd = [frameDataNext[36],frameDataNext[37],frameDataNext[38],frameDataNext[35]]
|
||||
@ -151,7 +154,7 @@ class HumanoidPose(object):
|
||||
leftElbowRotStart = [frameData[43]]
|
||||
leftElbowRotEnd = [frameDataNext[43]]
|
||||
self._leftElbowRot = [leftElbowRotStart[0]+frameFraction*(leftElbowRotEnd[0]-leftElbowRotStart[0])]
|
||||
self._leftElbowVel = (leftElbowRotEnd[0]-leftElbowRotStart[0])/keyFrameDuration
|
||||
self._leftElbowVel = [(leftElbowRotEnd[0]-leftElbowRotStart[0])/keyFrameDuration]
|
||||
|
||||
|
||||
class Humanoid(object):
|
||||
@ -165,8 +168,12 @@ class Humanoid(object):
|
||||
self._pybullet_client = pybullet_client
|
||||
self._motion_data = motion_data
|
||||
self._humanoid = self._pybullet_client.loadURDF(
|
||||
"humanoid/humanoid.urdf", [0,0.9,0],globalScaling=0.25)
|
||||
|
||||
"humanoid/humanoid.urdf", [0,0.9,0],globalScaling=0.25, useFixedBase=False)
|
||||
|
||||
#self._humanoidDebug = self._pybullet_client.loadURDF(
|
||||
# "humanoid/humanoid.urdf", [0,0.9,3],globalScaling=0.25, useFixedBase=True)
|
||||
|
||||
print("human #joints=", self._pybullet_client.getNumJoints(self._humanoid))
|
||||
pose = HumanoidPose()
|
||||
|
||||
for i in range (self._motion_data.NumFrames()-1):
|
||||
@ -176,8 +183,11 @@ class Humanoid(object):
|
||||
self._pybullet_client.resetBasePositionAndOrientation(self._humanoid,self._baseShift,[0,0,0,1])
|
||||
self._pybullet_client.changeDynamics(self._humanoid, -1, linearDamping=0, angularDamping=0)
|
||||
for j in range (self._pybullet_client.getNumJoints(self._humanoid)):
|
||||
ji = self._pybullet_client.getJointInfo(self._humanoid,j)
|
||||
self._pybullet_client.changeDynamics(self._humanoid, j, linearDamping=0, angularDamping=0)
|
||||
self._pybullet_client.changeVisualShape(self._humanoid, j , rgbaColor=[1,1,1,1])
|
||||
print("joint[",j,"].type=",jointTypes[ji[2]])
|
||||
print("joint[",j,"].name=",ji[1])
|
||||
|
||||
self._initial_state = self._pybullet_client.saveState()
|
||||
self._allowed_body_parts=[11,14]
|
||||
@ -185,18 +195,41 @@ class Humanoid(object):
|
||||
|
||||
def Reset(self):
|
||||
self._pybullet_client.restoreState(self._initial_state)
|
||||
self.SetFrameTime(0)
|
||||
self.SetSimTime(100)
|
||||
pose = self.InitializePoseFromMotionData()
|
||||
self.ApplyPose(pose, True)
|
||||
self.ApplyPose(pose, True, True)
|
||||
|
||||
def CalcCycleCount(self, simTime, cycleTime):
|
||||
phases = simTime / cycleTime;
|
||||
count = math.floor(phases)
|
||||
loop = True
|
||||
#count = (loop) ? count : cMathUtil::Clamp(count, 0, 1);
|
||||
return count
|
||||
|
||||
def SetFrameTime(self, t):
|
||||
self._frameTime = t
|
||||
self._frame = int(self._frameTime)
|
||||
def SetSimTime(self, t):
|
||||
self._simTime = t
|
||||
print("SetTimeTime time =",t)
|
||||
keyFrameDuration = self._motion_data.KeyFrameDuraction()
|
||||
cycleTime = keyFrameDuration*(self._motion_data.NumFrames()-1)
|
||||
#print("self._motion_data.NumFrames()=",self._motion_data.NumFrames())
|
||||
#print("cycleTime=",cycleTime)
|
||||
cycles = self.CalcCycleCount(t, cycleTime)
|
||||
#print("cycles=",cycles)
|
||||
frameTime = t - cycles*cycleTime
|
||||
if (frameTime<0):
|
||||
frameTime += cycleTime
|
||||
|
||||
#print("keyFrameDuration=",keyFrameDuration)
|
||||
#print("frameTime=",frameTime)
|
||||
self._frame = int(frameTime/keyFrameDuration)
|
||||
#print("self._frame=",self._frame)
|
||||
|
||||
self._frameNext = self._frame+1
|
||||
if (self._frameNext >= self._motion_data.NumFrames()):
|
||||
self._frameNext = self._frame
|
||||
self._frameFraction = self._frameTime - self._frame
|
||||
|
||||
self._frameFraction = (frameTime - self._frame*keyFrameDuration)/(keyFrameDuration)
|
||||
#print("self._frameFraction=",self._frameFraction)
|
||||
|
||||
def Terminates(self):
|
||||
#check if any non-allowed body part hits the ground
|
||||
@ -208,14 +241,50 @@ class Humanoid(object):
|
||||
part=p[3]
|
||||
if (p[2]==self._humanoid):
|
||||
part=p[4]
|
||||
if (part not in self._allowed_body_parts):
|
||||
if (part >=0 and part not in self._allowed_body_parts):
|
||||
terminates=True
|
||||
|
||||
return terminates
|
||||
|
||||
|
||||
|
||||
def BuildHeadingTrans(self, rootOrn):
|
||||
#align root transform 'forward' with world-space x axis
|
||||
eul = self._pybullet_client.getEulerFromQuaternion(rootOrn)
|
||||
refDir = [1,0,0]
|
||||
rotVec = self._pybullet_client.rotateVector(rootOrn, refDir)
|
||||
heading = math.atan2(-rotVec[2], rotVec[0])
|
||||
heading2=eul[1]
|
||||
print("heading=",heading)
|
||||
headingOrn = self._pybullet_client.getQuaternionFromAxisAngle([0,1,0],-heading)
|
||||
return headingOrn
|
||||
|
||||
def GetPhase(self):
|
||||
keyFrameDuration = self._motion_data.KeyFrameDuraction()
|
||||
cycleTime = keyFrameDuration*(self._motion_data.NumFrames()-1)
|
||||
phase = self._simTime / cycleTime
|
||||
phase = math.fmod(phase,1.0)
|
||||
if (phase<0):
|
||||
phase += 1
|
||||
return phase
|
||||
|
||||
def BuildOriginTrans(self):
|
||||
rootPos,rootOrn = self._pybullet_client.getBasePositionAndOrientation(self._humanoid)
|
||||
|
||||
print("rootPos=",rootPos, " rootOrn=",rootOrn)
|
||||
invRootPos=[-rootPos[0], 0, -rootPos[2]]
|
||||
#invOrigTransPos, invOrigTransOrn = self._pybullet_client.invertTransform(rootPos,rootOrn)
|
||||
headingOrn = self.BuildHeadingTrans(rootOrn)
|
||||
print("headingOrn=",headingOrn)
|
||||
headingMat = self._pybullet_client.getMatrixFromQuaternion(headingOrn)
|
||||
print("headingMat=",headingMat)
|
||||
#dummy, rootOrnWithoutHeading = self._pybullet_client.multiplyTransforms([0,0,0],headingOrn, [0,0,0], rootOrn)
|
||||
#dummy, invOrigTransOrn = self._pybullet_client.multiplyTransforms([0,0,0],rootOrnWithoutHeading, invOrigTransPos, invOrigTransOrn)
|
||||
|
||||
invOrigTransPos, invOrigTransOrn = self._pybullet_client.multiplyTransforms( [0,0,0],headingOrn, invRootPos,[0,0,0,1])
|
||||
print("invOrigTransPos=",invOrigTransPos)
|
||||
print("invOrigTransOrn=",invOrigTransOrn)
|
||||
invOrigTransMat = self._pybullet_client.getMatrixFromQuaternion(invOrigTransOrn)
|
||||
print("invOrigTransMat =",invOrigTransMat )
|
||||
return invOrigTransPos, invOrigTransOrn
|
||||
|
||||
def InitializePoseFromMotionData(self):
|
||||
frameData = self._motion_data._motion_data['Frames'][self._frame]
|
||||
@ -225,27 +294,94 @@ class Humanoid(object):
|
||||
return pose
|
||||
|
||||
|
||||
|
||||
|
||||
def ApplyAction(self, action):
|
||||
#turn action into pose
|
||||
pose = HumanoidPose()
|
||||
#todo: convert action vector into pose
|
||||
#convert from angle-axis to quaternion for spherical joints
|
||||
pose.Reset()
|
||||
index=0
|
||||
angle = action[index]
|
||||
axis = [action[index+1],action[index+2],action[index+3]]
|
||||
index+=4
|
||||
pose._chestRot = self._pybullet_client.getQuaternionFromAxisAngle(axis,angle)
|
||||
#print("pose._chestRot=",pose._chestRot)
|
||||
|
||||
angle = action[index]
|
||||
axis = [action[index+1],action[index+2],action[index+3]]
|
||||
index+=4
|
||||
pose._neckRot = self._pybullet_client.getQuaternionFromAxisAngle(axis,angle)
|
||||
|
||||
angle = action[index]
|
||||
axis = [action[index+1],action[index+2],action[index+3]]
|
||||
index+=4
|
||||
pose._rightHipRot = self._pybullet_client.getQuaternionFromAxisAngle(axis,angle)
|
||||
|
||||
angle = action[index]
|
||||
index+=1
|
||||
pose._rightKneeRot = [angle]
|
||||
|
||||
angle = action[index]
|
||||
axis = [action[index+1],action[index+2],action[index+3]]
|
||||
index+=4
|
||||
pose._rightAnkleRot = self._pybullet_client.getQuaternionFromAxisAngle(axis,angle)
|
||||
|
||||
angle = action[index]
|
||||
axis = [action[index+1],action[index+2],action[index+3]]
|
||||
index+=4
|
||||
pose._rightShoulderRot = self._pybullet_client.getQuaternionFromAxisAngle(axis,angle)
|
||||
|
||||
angle = action[index]
|
||||
index+=1
|
||||
pose._rightElbowRot = [angle]
|
||||
|
||||
angle = action[index]
|
||||
axis = [action[index+1],action[index+2],action[index+3]]
|
||||
index+=4
|
||||
pose._leftHipRot = self._pybullet_client.getQuaternionFromAxisAngle(axis,angle)
|
||||
|
||||
angle = action[index]
|
||||
index+=1
|
||||
pose._leftKneeRot = [angle]
|
||||
|
||||
|
||||
angle = action[index]
|
||||
axis = [action[index+1],action[index+2],action[index+3]]
|
||||
index+=4
|
||||
pose._leftAnkleRot = self._pybullet_client.getQuaternionFromAxisAngle(axis,angle)
|
||||
|
||||
angle = action[index]
|
||||
axis = [action[index+1],action[index+2],action[index+3]]
|
||||
index+=4
|
||||
pose._leftShoulderRot = self._pybullet_client.getQuaternionFromAxisAngle(axis,angle)
|
||||
|
||||
angle = action[index]
|
||||
index+=1
|
||||
pose._leftElbowRot = [angle]
|
||||
|
||||
|
||||
print("index=",index)
|
||||
|
||||
initializeBase = False
|
||||
self.ApplyPose(pose, initializeBase)
|
||||
initializeVelocities = False
|
||||
self.ApplyPose(pose, initializeBase, initializeVelocities)
|
||||
|
||||
def ApplyPose(self, pose, initializeBase):
|
||||
|
||||
def ApplyPose(self, pose, initializeBase, initializeVelocities):
|
||||
#todo: get tunable parametes from a json file or from URDF (kd, maxForce)
|
||||
if (initializeBase):
|
||||
self._pybullet_client.changeVisualShape(self._humanoid, 2 , rgbaColor=[1,0,0,1])
|
||||
basePos=[pose._basePos[0]+self._baseShift[0],pose._basePos[1]+self._baseShift[1],pose._basePos[2]+self._baseShift[2]]
|
||||
|
||||
self._pybullet_client.resetBasePositionAndOrientation(self._humanoid,
|
||||
basePos, pose._baseOrn)
|
||||
self._pybullet_client.resetBaseVelocity(self._humanoid, pose._baseLinVel, pose._baseAngVel)
|
||||
print("resetBaseVelocity=",pose._baseLinVel)
|
||||
if initializeVelocities:
|
||||
self._pybullet_client.resetBaseVelocity(self._humanoid, pose._baseLinVel, pose._baseAngVel)
|
||||
#print("resetBaseVelocity=",pose._baseLinVel)
|
||||
else:
|
||||
self._pybullet_client.changeVisualShape(self._humanoid, 2 , rgbaColor=[1,1,1,1])
|
||||
maxForce=1000
|
||||
kp=0.8
|
||||
|
||||
kp=0.01
|
||||
chest=1
|
||||
neck=2
|
||||
rightShoulder=3
|
||||
@ -261,29 +397,101 @@ class Humanoid(object):
|
||||
controlMode = self._pybullet_client.POSITION_CONTROL
|
||||
|
||||
if (initializeBase):
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,chest,pose._chestRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,neck,pose._neckRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightHip,pose._rightHipRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightKnee,pose._rightKneeRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightAnkle,pose._rightAnkleRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightShoulder,pose._rightShoulderRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightElbow, pose._rightElbowRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftHip, pose._leftHipRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftKnee, pose._leftKneeRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftAnkle, pose._leftAnkleRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftShoulder, pose._leftShoulderRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftElbow, pose._leftElbowRot)
|
||||
if initializeVelocities:
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,chest,pose._chestRot, pose._chestVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,neck,pose._neckRot, pose._neckVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightHip,pose._rightHipRot, pose._rightHipVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightKnee,pose._rightKneeRot, pose._rightKneeVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightAnkle,pose._rightAnkleRot, pose._rightAnkleVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightShoulder,pose._rightShoulderRot, pose._rightShoulderVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightElbow, pose._rightElbowRot, pose._rightElbowVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftHip, pose._leftHipRot, pose._leftHipVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftKnee, pose._leftKneeRot, pose._leftKneeVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftAnkle, pose._leftAnkleRot, pose._leftAnkleVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftShoulder, pose._leftShoulderRot, pose._leftShoulderVel)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftElbow, pose._leftElbowRot, pose._leftElbowVel)
|
||||
else:
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,chest,pose._chestRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,neck,pose._neckRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightHip,pose._rightHipRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightKnee,pose._rightKneeRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightAnkle,pose._rightAnkleRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightShoulder,pose._rightShoulderRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,rightElbow, pose._rightElbowRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftHip, pose._leftHipRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftKnee, pose._leftKneeRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftAnkle, pose._leftAnkleRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftShoulder, pose._leftShoulderRot)
|
||||
self._pybullet_client.resetJointStateMultiDof(self._humanoid,leftElbow, pose._leftElbowRot)
|
||||
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,chest,controlMode, targetPosition=pose._chestRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,neck,controlMode,targetPosition=pose._neckRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightHip,controlMode,targetPosition=pose._rightHipRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightKnee,controlMode,targetPosition=pose._rightKneeRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightAnkle,controlMode,targetPosition=pose._rightAnkleRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightShoulder,controlMode,targetPosition=pose._rightShoulderRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightElbow, controlMode,targetPosition=pose._rightElbowRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftHip, controlMode,targetPosition=pose._leftHipRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftKnee, controlMode,targetPosition=pose._leftKneeRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftAnkle, controlMode,targetPosition=pose._leftAnkleRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftShoulder, controlMode,targetPosition=pose._leftShoulderRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftElbow, controlMode,targetPosition=pose._leftElbowRot,positionGain=kp, force=maxForce)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,chest,controlMode, targetPosition=pose._chestRot,positionGain=kp, force=200)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,neck,controlMode,targetPosition=pose._neckRot,positionGain=kp, force=50)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightHip,controlMode,targetPosition=pose._rightHipRot,positionGain=kp, force=200)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightKnee,controlMode,targetPosition=pose._rightKneeRot,positionGain=kp, force=150)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightAnkle,controlMode,targetPosition=pose._rightAnkleRot,positionGain=kp, force=90)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightShoulder,controlMode,targetPosition=pose._rightShoulderRot,positionGain=kp, force=100)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,rightElbow, controlMode,targetPosition=pose._rightElbowRot,positionGain=kp, force=60)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftHip, controlMode,targetPosition=pose._leftHipRot,positionGain=kp, force=200)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftKnee, controlMode,targetPosition=pose._leftKneeRot,positionGain=kp, force=150)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftAnkle, controlMode,targetPosition=pose._leftAnkleRot,positionGain=kp, force=90)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftShoulder, controlMode,targetPosition=pose._leftShoulderRot,positionGain=kp, force=100)
|
||||
self._pybullet_client.setJointMotorControlMultiDof(self._humanoid,leftElbow, controlMode,targetPosition=pose._leftElbowRot,positionGain=kp, force=60)
|
||||
|
||||
#debug space
|
||||
#if (False):
|
||||
# for j in range (self._pybullet_client.getNumJoints(self._humanoid)):
|
||||
# js = self._pybullet_client.getJointState(self._humanoid, j)
|
||||
# self._pybullet_client.resetJointState(self._humanoidDebug, j,js[0])
|
||||
# jsm = self._pybullet_client.getJointStateMultiDof(self._humanoid, j)
|
||||
# if (len(jsm[0])>0):
|
||||
# self._pybullet_client.resetJointStateMultiDof(self._humanoidDebug,j,jsm[0])
|
||||
|
||||
def GetState(self):
|
||||
|
||||
stateVector = []
|
||||
phase = self.GetPhase()
|
||||
print("phase=",phase)
|
||||
stateVector.append(phase)
|
||||
|
||||
rootTransPos, rootTransOrn=self.BuildOriginTrans()
|
||||
basePos,baseOrn = self._pybullet_client.getBasePositionAndOrientation(self._humanoid)
|
||||
|
||||
rootPosRel, dummy = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, basePos,[0,0,0,1])
|
||||
#print("!!!rootPosRel =",rootPosRel )
|
||||
#print("rootTransPos=",rootTransPos)
|
||||
print("basePos=",basePos)
|
||||
localPos,localOrn = self._pybullet_client.multiplyTransforms( rootTransPos, rootTransOrn , basePos,baseOrn )
|
||||
|
||||
localPos=[localPos[0]-rootPosRel[0],localPos[1]-rootPosRel[1],localPos[2]-rootPosRel[2]]
|
||||
print("localPos=",localPos)
|
||||
|
||||
stateVector.append(rootPosRel[1])
|
||||
|
||||
|
||||
for j in range (self._pybullet_client.getNumJoints(self._humanoid)):
|
||||
ls = self._pybullet_client.getLinkState(self._humanoid, j, computeForwardKinematics=True)
|
||||
linkPos = ls[0]
|
||||
linkOrn = ls[1]
|
||||
linkPosLocal, linkOrnLocal = self._pybullet_client.multiplyTransforms(rootTransPos, rootTransOrn, linkPos,linkOrn)
|
||||
if (linkOrnLocal[3]<0):
|
||||
linkOrnLocal=[-linkOrnLocal[0],-linkOrnLocal[1],-linkOrnLocal[2],-linkOrnLocal[3]]
|
||||
linkPosLocal=[linkPosLocal[0]-rootPosRel[0],linkPosLocal[1]-rootPosRel[1],linkPosLocal[2]-rootPosRel[2]]
|
||||
for l in linkPosLocal:
|
||||
stateVector.append(l)
|
||||
for l in linkOrnLocal:
|
||||
stateVector.append(l)
|
||||
|
||||
|
||||
for j in range (self._pybullet_client.getNumJoints(self._humanoid)):
|
||||
ls = self._pybullet_client.getLinkState(self._humanoid, j, computeLinkVelocity=True)
|
||||
linkLinVel = ls[6]
|
||||
linkAngVel = ls[7]
|
||||
for l in linkLinVel:
|
||||
stateVector.append(l)
|
||||
for l in linkAngVel:
|
||||
stateVector.append(l)
|
||||
|
||||
print("stateVector len=",len(stateVector))
|
||||
return stateVector
|
||||
|
||||
|
||||
@ -3,9 +3,9 @@ currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentfram
|
||||
parentdir = os.path.dirname(os.path.dirname(currentdir))
|
||||
os.sys.path.insert(0,parentdir)
|
||||
|
||||
from pybullet_envs.deep_mimic.humanoid import Humanoid
|
||||
from pybullet_envs.mimic.humanoid import Humanoid
|
||||
from pybullet_utils.bullet_client import BulletClient
|
||||
from pybullet_envs.deep_mimic.motion_capture_data import MotionCaptureData
|
||||
from pybullet_envs.mimic.motion_capture_data import MotionCaptureData
|
||||
import pybullet_data
|
||||
import pybullet
|
||||
import time
|
||||
@ -17,17 +17,19 @@ bc.configureDebugVisualizer(bc.COV_ENABLE_Y_AXIS_UP,1)
|
||||
bc.setGravity(0,-9.8,0)
|
||||
motion=MotionCaptureData()
|
||||
|
||||
motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"#humanoid3d_spinkick.txt"#humanoid3d_backflip.txt"
|
||||
motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_walk.txt"#humanoid3d_spinkick.txt"#/motions/humanoid3d_backflip.txt"
|
||||
motion.Load(motionPath)
|
||||
print("numFrames = ", motion.NumFrames())
|
||||
frameTimeId= bc.addUserDebugParameter("frameTime",0,motion.NumFrames()-1.1,0)
|
||||
simTimeId= bc.addUserDebugParameter("simTime",0,motion.NumFrames()-1.1,0)
|
||||
|
||||
y2zOrn = bc.getQuaternionFromEuler([-1.57,0,0])
|
||||
bc.loadURDF("plane.urdf",[0,-0.08,0], y2zOrn)
|
||||
bc.loadURDF("plane.urdf",[0,-0.04,0], y2zOrn)
|
||||
|
||||
humanoid = Humanoid(bc, motion,[0,0,0])
|
||||
|
||||
frameTime = 0
|
||||
simTime = 0
|
||||
|
||||
|
||||
keyFrameDuration = motion.KeyFrameDuraction()
|
||||
print("keyFrameDuration=",keyFrameDuration)
|
||||
#for i in range (50):
|
||||
@ -40,37 +42,41 @@ stage = 0
|
||||
|
||||
|
||||
def Reset(humanoid):
|
||||
global frameTime
|
||||
global simTime
|
||||
humanoid.Reset()
|
||||
frameTime = 0#random.randint(0,motion.NumFrames()-2)
|
||||
print("RESET frametime=",frameTime)
|
||||
humanoid.SetFrameTime(frameTime)
|
||||
simTime = random.randint(0,motion.NumFrames()-2)
|
||||
humanoid.SetSimTime(simTime)
|
||||
pose = humanoid.InitializePoseFromMotionData()
|
||||
humanoid.ApplyPose(pose, True)
|
||||
humanoid.ApplyPose(pose, True, True)
|
||||
|
||||
|
||||
Reset(humanoid)
|
||||
bc.stepSimulation()
|
||||
|
||||
|
||||
while (1):
|
||||
#frameTime = bc.readUserDebugParameter(frameTimeId)
|
||||
#simTime = bc.readUserDebugParameter(frameTimeId)
|
||||
#print("keyFrameDuration=",keyFrameDuration)
|
||||
dt = (1./240.)/keyFrameDuration
|
||||
#print("dt=",dt)
|
||||
frameTime += dt
|
||||
if (frameTime >= (motion.NumFrames())-1.1):
|
||||
frameTime = motion.NumFrames()-1.1
|
||||
#print("frameTime=", frameTime)
|
||||
humanoid.SetFrameTime(frameTime)
|
||||
dt = (1./240.)
|
||||
print("------------------------------------------")
|
||||
print("dt=",dt)
|
||||
|
||||
print("simTime=",simTime)
|
||||
print("humanoid.SetSimTime(simTime)")
|
||||
humanoid.SetSimTime(simTime)
|
||||
|
||||
pose = humanoid.InitializePoseFromMotionData()
|
||||
#pose = humanoid.InitializePoseFromMotionData()
|
||||
|
||||
#humanoid.ApplyPose(pose, False)#False, False)
|
||||
#humanoid.ApplyPose(pose, True)#False)#False, False)
|
||||
if (humanoid.Terminates()):
|
||||
Reset(humanoid)
|
||||
|
||||
bc.stepSimulation()
|
||||
|
||||
|
||||
time.sleep(1./240.)
|
||||
state = humanoid.GetState()
|
||||
action = [0]*36
|
||||
humanoid.ApplyAction(action)
|
||||
for s in range (8):
|
||||
print("step:",s)
|
||||
bc.stepSimulation()
|
||||
simTime += dt
|
||||
time.sleep(1./240.)
|
||||
|
||||
|
||||
@ -96,9 +96,16 @@ public:
|
||||
{
|
||||
b3Scalar d = axis.length();
|
||||
b3Assert(d != b3Scalar(0.0));
|
||||
b3Scalar s = b3Sin(_angle * b3Scalar(0.5)) / d;
|
||||
setValue(axis.getX() * s, axis.getY() * s, axis.getZ() * s,
|
||||
b3Cos(_angle * b3Scalar(0.5)));
|
||||
if (d < B3_EPSILON)
|
||||
{
|
||||
setValue(0, 0, 0, 1);
|
||||
}
|
||||
else
|
||||
{
|
||||
b3Scalar s = b3Sin(_angle * b3Scalar(0.5)) / d;
|
||||
setValue(axis.getX() * s, axis.getY() * s, axis.getZ() * s,
|
||||
b3Cos(_angle * b3Scalar(0.5)));
|
||||
}
|
||||
}
|
||||
/**@brief Set the quaternion using Euler angles
|
||||
* @param yaw Angle around Y
|
||||
|
||||
Loading…
Reference in New Issue
Block a user