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Added laikago mocap data for a DeepMimic compatible walk cycle

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Added testLaikago.py script to test this mocap data.
This commit is contained in:
erwincoumans
2019-04-04 19:40:21 -07:00
parent 76918ca26d
commit 024af08320
6 changed files with 395 additions and 22 deletions
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23
examples/pybullet/gym/pybullet_envs/deep_mimic/env/testHumanoid.py vendored
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@@ -36,27 +36,6 @@ pybullet_client.setTimeStep(timeStep)
pybullet_client.setPhysicsEngineParameter(numSubSteps=2)
timeId = pybullet_client.addUserDebugParameter("time",0,10,0)
#startPose = humanoid_pose_interpolator.HumanoidPoseInterpolator()
#startPose.Reset(basePos=[-0.000000,0.889540,0.000000],baseOrn=[0.029215,-0.000525,-0.017963,0.999412],chestRot=[0.000432,0.000572,0.005500,0.999985],
# neckRot=[0.001660,-0.011168,-0.140597,0.990003],rightHipRot=[-0.024450,-0.000839,-0.038869,0.998945],rightKneeRot=[-0.014186],rightAnkleRot=[0.010757,-0.105223,0.035405,0.993760],
# rightShoulderRot=[-0.003003,-0.124234,0.073280,0.989539],rightElbowRot=[0.240463],leftHipRot=[-0.020920,-0.012925,-0.006300,0.999678],leftKneeRot=[-0.027859],
# leftAnkleRot=[-0.010764,0.105284,-0.009276,0.994341],leftShoulderRot=[0.055661,-0.019608,0.098917,0.993344],leftElbowRot=[0.148934],
# baseLinVel=[-0.340837,0.377742,0.009662],baseAngVel=[0.047057,0.285253,-0.248554],chestVel=[-0.016455,-0.070035,-0.231662],neckVel=[0.072168,0.097898,-0.059063],
# rightHipVel=[-0.315908,-0.131685,1.114815],rightKneeVel=[0.103419],rightAnkleVel=[-0.409780,-0.099954,-4.241572],rightShoulderVel=[-3.324227,-2.510209,1.834637],
# rightElbowVel=[-0.212299],leftHipVel=[0.173056,-0.191063,1.226781,0.000000],leftKneeVel=[-0.665322],leftAnkleVel=[0.282716,0.086217,-3.007098,0.000000],
# leftShoulderVel=[4.253144,2.038637,1.170750],leftElbowVel=[0.387993])
#
#targetPose = humanoid_pose_interpolator.HumanoidPoseInterpolator()
#targetPose.Reset(basePos=[0.000000,0.000000,0.000000],baseOrn=[0.000000,0.000000,0.000000,1.000000],chestRot=[-0.006711,0.007196,-0.027119,0.999584],neckRot=[-0.017613,-0.033879,-0.209250,0.977116],
# rightHipRot=[-0.001697,-0.006510,0.046117,0.998913],rightKneeRot=[0.366954],rightAnkleRot=[0.012605,0.001208,-0.187007,0.982277],rightShoulderRot=[-0.468057,-0.044589,0.161134,0.867739],
# rightElbowRot=[-0.593650],leftHipRot=[0.006993,0.017242,0.049703,0.998591],leftKneeRot=[0.395147],leftAnkleRot=[-0.008922,0.026517,-0.217852,0.975581],
# leftShoulderRot=[0.426160,-0.266177,0.044672,0.863447],leftElbowRot=[-0.726281])
#out_tau= [0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,-33.338211,-1.381748,-118.708975,0.000000,-2.813919,-2.773850,-0.772481,0.000000,31.885372,2.658243,64.988216,0.000000,94.773133,1.784944,6.240010,5.407563,0.000000,-180.441290,-6.821173,-19.502417,0.000000,-44.518261,9.992627,-2.380950,53.057697,0.000000,111.728594,-1.218496,-4.630812,4.268995,0.000000,89.741829,-8.460265,-117.727884,0.000000,-79.481906]
#,mSimWorld->stepSimulation(timestep:0.001667, mParams.mNumSubsteps:2, subtimestep:0.000833)
#cImpPDController::CalcControlForces timestep=0.001667
def isKeyTriggered(keys, key):
o = ord(key)
@@ -67,7 +46,7 @@ def isKeyTriggered(keys, key):
animating = False
singleStep = False
#humanoid.initializePose(pose=startPose, phys_model = humanoid._sim_model, initBase=True, initializeVelocity=True)
t=0
while (1):