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more work on PyBullet implementation of DeepMimic humanoid mimic of motion capture.

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b3Quaternion, deal with zero-length axis (in axis,angle constructor)
This commit is contained in:
erwincoumans
2018-11-21 11:09:10 -08:00
parent f93e4e4553
commit 121cdc91b0
3 changed files with 300 additions and 79 deletions
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56
examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
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@@ -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.)