Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion
Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
This commit is contained in:
erwincoumans
@@ -4,6 +4,7 @@
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Matrix3x3.h"
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#include "Bullet3Common/b3Transform.h"
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#include "Bullet3Common/b3TransformUtil.h"
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#include <string.h>
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#include "SharedMemoryCommands.h"
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@@ -5264,3 +5265,46 @@ B3_SHARED_API void b3QuaternionSlerp(const double startQuat[/*4*/], const double
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outOrn[2] = result[2];
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outOrn[3] = result[3];
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}
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B3_SHARED_API void b3CalculateVelocityQuaternion(const double startQuat[/*4*/], const double endQuat[/*4*/], double deltaTime, double angVelOut[/*3*/])
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{
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b3Quaternion start(startQuat[0], startQuat[1], startQuat[2], startQuat[3]);
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b3Quaternion end(endQuat[0], endQuat[1], endQuat[2], endQuat[3]);
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b3Vector3 pos=b3MakeVector3(0, 0, 0);
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b3Vector3 linVel, angVel;
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b3TransformUtil::calculateVelocityQuaternion(pos, pos, start, end, deltaTime, linVel, angVel);
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angVelOut[0] = angVel[0];
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angVelOut[1] = angVel[1];
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angVelOut[2] = angVel[2];
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}
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B3_SHARED_API void b3GetQuaternionFromAxisAngle(const double axis[/*3*/], double angle, double outQuat[/*4*/])
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{
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b3Quaternion quat(b3MakeVector3(axis[0], axis[1], axis[2]), angle);
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outQuat[0] = quat[0];
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outQuat[1] = quat[1];
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outQuat[2] = quat[2];
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outQuat[3] = quat[3];
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}
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B3_SHARED_API void b3GetAxisAngleFromQuaternion(const double quat[/*4*/], double axis[/*3*/], double* angle)
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{
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b3Quaternion q(quat[0], quat[1], quat[2], quat[3]);
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b3Vector3 ax = q.getAxis();
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axis[0] = ax[0];
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axis[1] = ax[1];
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axis[2] = ax[2];
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*angle = q.getAngle();
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}
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B3_SHARED_API void b3GetQuaternionDifference(const double startQuat[/*4*/], const double endQuat[/*4*/], double outOrn[/*4*/])
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{
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b3Quaternion orn0(startQuat[0], startQuat[1], startQuat[2], startQuat[3]);
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b3Quaternion orn1a(endQuat[0], endQuat[1], endQuat[2], endQuat[3]);
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b3Quaternion orn1 = orn0.nearest(orn1a);
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b3Quaternion dorn = orn1 * orn0.inverse();
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outOrn[0] = dorn[0];
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outOrn[1] = dorn[1];
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outOrn[2] = dorn[2];
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outOrn[3] = dorn[3];
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}
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@@ -571,7 +571,7 @@ extern "C"
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// Sets the number of threads to use to compute the ray intersections for the batch. Specify 0 to let Bullet decide, 1 (default) for single core execution, 2 or more to select the number of threads to use.
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B3_SHARED_API void b3RaycastBatchSetNumThreads(b3SharedMemoryCommandHandle commandHandle, int numThreads);
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//max num rays for b3RaycastBatchAddRay is MAX_RAY_INTERSECTION_BATCH_SIZE
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B3_SHARED_API void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[3], const double rayToWorld[3]);
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B3_SHARED_API void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[/*3*/], const double rayToWorld[/*3*/]);
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//max num rays for b3RaycastBatchAddRays is MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING
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B3_SHARED_API void b3RaycastBatchAddRays(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double* rayFromWorld, const double* rayToWorld, int numRays);
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B3_SHARED_API void b3RaycastBatchSetParentObject(b3SharedMemoryCommandHandle commandHandle, int parentObjectUniqueId, int parentLinkIndex);
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@@ -635,6 +635,12 @@ extern "C"
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B3_SHARED_API void b3MultiplyTransforms(const double posA[/*3*/], const double ornA[/*4*/], const double posB[/*3*/], const double ornB[/*4*/], double outPos[/*3*/], double outOrn[/*4*/]);
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B3_SHARED_API void b3InvertTransform(const double pos[/*3*/], const double orn[/*4*/], double outPos[/*3*/], double outOrn[/*4*/]);
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B3_SHARED_API void b3QuaternionSlerp(const double startQuat[/*4*/], const double endQuat[/*4*/], double interpolationFraction, double outOrn[/*4*/]);
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B3_SHARED_API void b3GetQuaternionFromAxisAngle(const double axis[/*3*/], double angle, double outQuat[/*4*/]);
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B3_SHARED_API void b3GetAxisAngleFromQuaternion(const double quat[/*4*/], double axis[/*3*/], double* angle);
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B3_SHARED_API void b3GetQuaternionDifference(const double startQuat[/*4*/], const double endQuat[/*4*/], double outOrn[/*4*/]);
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B3_SHARED_API void b3CalculateVelocityQuaternion(const double startQuat[/*4*/], const double endQuat[/*4*/], double deltaTime, double angVelOut[/*3*/]);
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#ifdef __cplusplus
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}
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@@ -16,7 +16,7 @@ p.setPhysicsEngineParameter(numSolverIterations=200)
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#path = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"
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path = pybullet_data.getDataPath()+"/motions/humanoid3d_cartwheel.txt"
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p.loadURDF("plane.urdf",[0,0,-1])
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p.loadURDF("plane.urdf",[0,0,-0.03])
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print("path = ", path)
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with open(path, 'r') as f:
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motion_dict = json.load(f)
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@@ -1,8 +1,8 @@
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<robot name="dumpUrdf">
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<link name="base" >
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<link name="root" >
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<inertial>
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<origin rpy = "0 0 0" xyz = "0 0 0" />
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<mass value = "0.000000" />
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<mass value = "0.00100" />
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<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
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</inertial>
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</link>
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@@ -20,7 +20,7 @@
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</collision>
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</link>
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<joint name="joint0" type="fixed" >
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<parent link = "base" />
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<parent link = "root" />
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<child link="link0" />
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<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
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</joint>
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289
examples/pybullet/gym/pybullet_envs/mimic/humanoid.py
Normal file
289
examples/pybullet/gym/pybullet_envs/mimic/humanoid.py
Normal file
@@ -0,0 +1,289 @@
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import os, inspect
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import math
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0,parentdir)
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class HumanoidPose(object):
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def __init__(self):
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pass
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def Reset(self):
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self._basePos = [0,0,0]
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self._baseLinVel = [0,0,0]
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self._baseOrn = [0,0,0,1]
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self._baseAngVel = [0,0,0]
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self._chestRot = [0,0,0,1]
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self._chestVel = [0,0,0]
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self._neckRot = [0,0,0,1]
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self._neckVel = [0,0,0]
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self._rightHipRot = [0,0,0,1]
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self._rightHipVel = [0,0,0]
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self._rightKneeRot = [0]
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self._rightKneeVel = [0]
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self._rightAnkleRot = [0,0,0,1]
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self._rightAnkleVel = [0,0,0]
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self._rightShoulderRot = [0,0,0,1]
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self._rightShoulderVel = [0,0,0]
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self._rightElbowRot = [0]
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self._rightElbowVel = [0]
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self._leftHipRot = [0,0,0,1]
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self._leftHipVel = [0,0,0]
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self._leftKneeRot = [0]
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self._leftKneeVel = [0]
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self._leftAnkleRot = [0,0,0,1]
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self._leftAnkleVel = [0,0,0]
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self._leftShoulderRot = [0,0,0,1]
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self._leftShoulderVel = [0,0,0]
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self._leftElbowRot = [0]
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self._leftElbowVel = [0]
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def ComputeLinVel(self,posStart, posEnd, deltaTime):
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vel = [(posEnd[0]-posStart[0])/deltaTime,(posEnd[1]-posStart[1])/deltaTime,(posEnd[2]-posStart[2])/deltaTime]
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return vel
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def ComputeAngVel(self,ornStart, ornEnd, deltaTime, bullet_client):
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dorn = bullet_client.getDifferenceQuaternion(ornStart,ornEnd)
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axis,angle = bullet_client.getAxisAngleFromQuaternion(dorn)
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angVel = [(axis[0]*angle)/deltaTime,(axis[1]*angle)/deltaTime,(axis[2]*angle)/deltaTime]
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return angVel
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def NormalizeQuaternion(self, orn):
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length2 = orn[0]*orn[0]+orn[1]*orn[1]+orn[2]*orn[2]+orn[3]*orn[3]
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if (length2>0):
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length = math.sqrt(length2)
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print("Normalize? length=",length)
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def PostProcessMotionData(self, frameData):
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baseOrn1Start = [frameData[5],frameData[6], frameData[7],frameData[4]]
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self.NormalizeQuaternion(baseOrn1Start)
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chestRotStart = [frameData[9],frameData[10],frameData[11],frameData[8]]
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neckRotStart = [frameData[13],frameData[14],frameData[15],frameData[12]]
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rightHipRotStart = [frameData[17],frameData[18],frameData[19],frameData[16]]
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rightAnkleRotStart = [frameData[22],frameData[23],frameData[24],frameData[21]]
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rightShoulderRotStart = [frameData[26],frameData[27],frameData[28],frameData[25]]
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leftHipRotStart = [frameData[31],frameData[32],frameData[33],frameData[30]]
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leftAnkleRotStart = [frameData[36],frameData[37],frameData[38],frameData[35]]
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leftShoulderRotStart = [frameData[40],frameData[41],frameData[42],frameData[39]]
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def Slerp(self, frameFraction, frameData, frameDataNext,bullet_client ):
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keyFrameDuration = frameData[0]
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basePos1Start = [frameData[1],frameData[2],frameData[3]]
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basePos1End = [frameDataNext[1],frameDataNext[2],frameDataNext[3]]
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self._basePos = [basePos1Start[0]+frameFraction*(basePos1End[0]-basePos1Start[0]),
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basePos1Start[1]+frameFraction*(basePos1End[1]-basePos1Start[1]),
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basePos1Start[2]+frameFraction*(basePos1End[2]-basePos1Start[2])]
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self._baseLinVel = self.ComputeLinVel(basePos1Start,basePos1End, keyFrameDuration)
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baseOrn1Start = [frameData[5],frameData[6], frameData[7],frameData[4]]
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baseOrn1Next = [frameDataNext[5],frameDataNext[6], frameDataNext[7],frameDataNext[4]]
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self._baseOrn = bullet_client.getQuaternionSlerp(baseOrn1Start,baseOrn1Next,frameFraction)
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self._baseAngVel = self.ComputeAngVel(baseOrn1Start,baseOrn1Next, keyFrameDuration, bullet_client)
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##pre-rotate to make z-up
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#y2zPos=[0,0,0.0]
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#y2zOrn = p.getQuaternionFromEuler([1.57,0,0])
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#basePos,baseOrn = p.multiplyTransforms(y2zPos, y2zOrn,basePos1,baseOrn1)
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chestRotStart = [frameData[9],frameData[10],frameData[11],frameData[8]]
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chestRotEnd = [frameDataNext[9],frameDataNext[10],frameDataNext[11],frameDataNext[8]]
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self._chestRot = bullet_client.getQuaternionSlerp(chestRotStart,chestRotEnd,frameFraction)
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self._chestVel = self.ComputeAngVel(chestRotStart,chestRotEnd,keyFrameDuration,bullet_client)
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neckRotStart = [frameData[13],frameData[14],frameData[15],frameData[12]]
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neckRotEnd= [frameDataNext[13],frameDataNext[14],frameDataNext[15],frameDataNext[12]]
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self._neckRot = bullet_client.getQuaternionSlerp(neckRotStart,neckRotEnd,frameFraction)
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self._neckVel = self.ComputeAngVel(neckRotStart,neckRotEnd,keyFrameDuration,bullet_client)
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rightHipRotStart = [frameData[17],frameData[18],frameData[19],frameData[16]]
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rightHipRotEnd = [frameDataNext[17],frameDataNext[18],frameDataNext[19],frameDataNext[16]]
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self._rightHipRot = bullet_client.getQuaternionSlerp(rightHipRotStart,rightHipRotEnd,frameFraction)
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self._rightHipVel = self.ComputeAngVel(rightHipRotStart,rightHipRotEnd,keyFrameDuration,bullet_client)
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rightKneeRotStart = [frameData[20]]
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rightKneeRotEnd = [frameDataNext[20]]
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self._rightKneeRot = [rightKneeRotStart[0]+frameFraction*(rightKneeRotEnd[0]-rightKneeRotStart[0])]
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self._rightKneeVel = (rightKneeRotEnd[0]-rightKneeRotStart[0])/keyFrameDuration
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rightAnkleRotStart = [frameData[22],frameData[23],frameData[24],frameData[21]]
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rightAnkleRotEnd = [frameDataNext[22],frameDataNext[23],frameDataNext[24],frameDataNext[21]]
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self._rightAnkleRot = bullet_client.getQuaternionSlerp(rightAnkleRotStart,rightAnkleRotEnd,frameFraction)
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self._rightAnkleVel = self.ComputeAngVel(rightAnkleRotStart,rightAnkleRotEnd,keyFrameDuration,bullet_client)
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rightShoulderRotStart = [frameData[26],frameData[27],frameData[28],frameData[25]]
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rightShoulderRotEnd = [frameDataNext[26],frameDataNext[27],frameDataNext[28],frameDataNext[25]]
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self._rightShoulderRot = bullet_client.getQuaternionSlerp(rightShoulderRotStart,rightShoulderRotEnd,frameFraction)
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self._rightShoulderVel = self.ComputeAngVel(rightShoulderRotStart,rightShoulderRotEnd, keyFrameDuration,bullet_client)
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rightElbowRotStart = [frameData[29]]
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rightElbowRotEnd = [frameDataNext[29]]
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self._rightElbowRot = [rightElbowRotStart[0]+frameFraction*(rightElbowRotEnd[0]-rightElbowRotStart[0])]
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self._rightElbowVel = (rightElbowRotEnd[0]-rightElbowRotStart[0])/keyFrameDuration
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leftHipRotStart = [frameData[31],frameData[32],frameData[33],frameData[30]]
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leftHipRotEnd = [frameDataNext[31],frameDataNext[32],frameDataNext[33],frameDataNext[30]]
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self._leftHipRot = bullet_client.getQuaternionSlerp(leftHipRotStart,leftHipRotEnd,frameFraction)
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self._leftHipVel = self.ComputeAngVel(leftHipRotStart, leftHipRotEnd,keyFrameDuration,bullet_client)
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leftKneeRotStart = [frameData[34]]
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leftKneeRotEnd = [frameDataNext[34]]
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self._leftKneeRot = [leftKneeRotStart[0] +frameFraction*(leftKneeRotEnd[0]-leftKneeRotStart[0]) ]
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self._leftKneeVel = (leftKneeRotEnd[0]-leftKneeRotStart[0])/keyFrameDuration
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leftAnkleRotStart = [frameData[36],frameData[37],frameData[38],frameData[35]]
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leftAnkleRotEnd = [frameDataNext[36],frameDataNext[37],frameDataNext[38],frameDataNext[35]]
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self._leftAnkleRot = bullet_client.getQuaternionSlerp(leftAnkleRotStart,leftAnkleRotEnd,frameFraction)
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self._leftAnkleVel = self.ComputeAngVel(leftAnkleRotStart,leftAnkleRotEnd,keyFrameDuration,bullet_client)
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leftShoulderRotStart = [frameData[40],frameData[41],frameData[42],frameData[39]]
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leftShoulderRotEnd = [frameDataNext[40],frameDataNext[41],frameDataNext[42],frameDataNext[39]]
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self._leftShoulderRot = bullet_client.getQuaternionSlerp(leftShoulderRotStart,leftShoulderRotEnd,frameFraction)
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self._leftShoulderVel = self.ComputeAngVel(leftShoulderRotStart,leftShoulderRotEnd,keyFrameDuration,bullet_client)
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leftElbowRotStart = [frameData[43]]
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leftElbowRotEnd = [frameDataNext[43]]
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self._leftElbowRot = [leftElbowRotStart[0]+frameFraction*(leftElbowRotEnd[0]-leftElbowRotStart[0])]
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self._leftElbowVel = (leftElbowRotEnd[0]-leftElbowRotStart[0])/keyFrameDuration
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class Humanoid(object):
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def __init__(self, pybullet_client, motion_data, baseShift):
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"""Constructs a humanoid and reset it to the initial states.
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Args:
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pybullet_client: The instance of BulletClient to manage different
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simulations.
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"""
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self._baseShift = baseShift
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self._pybullet_client = pybullet_client
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self._motion_data = motion_data
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self._humanoid = self._pybullet_client.loadURDF(
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"humanoid/humanoid.urdf", [0,0.9,0],globalScaling=0.25)
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pose = HumanoidPose()
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for i in range (self._motion_data.NumFrames()-1):
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frameData = self._motion_data._motion_data['Frames'][i]
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pose.PostProcessMotionData(frameData)
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self._pybullet_client.resetBasePositionAndOrientation(self._humanoid,self._baseShift,[0,0,0,1])
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self._pybullet_client.changeDynamics(self._humanoid, -1, linearDamping=0, angularDamping=0)
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for j in range (self._pybullet_client.getNumJoints(self._humanoid)):
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self._pybullet_client.changeDynamics(self._humanoid, j, linearDamping=0, angularDamping=0)
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self._pybullet_client.changeVisualShape(self._humanoid, j , rgbaColor=[1,1,1,1])
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self._initial_state = self._pybullet_client.saveState()
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self._allowed_body_parts=[11,14]
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self.Reset()
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def Reset(self):
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self._pybullet_client.restoreState(self._initial_state)
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self.SetFrameTime(0)
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pose = self.InitializePoseFromMotionData()
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self.ApplyPose(pose, True)
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def SetFrameTime(self, t):
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self._frameTime = t
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self._frame = int(self._frameTime)
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self._frameNext = self._frame+1
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if (self._frameNext >= self._motion_data.NumFrames()):
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self._frameNext = self._frame
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self._frameFraction = self._frameTime - self._frame
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def Terminates(self):
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#check if any non-allowed body part hits the ground
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terminates=False
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pts = self._pybullet_client.getContactPoints()
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for p in pts:
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part = -1
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if (p[1]==self._humanoid):
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part=p[3]
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if (p[2]==self._humanoid):
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part=p[4]
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if (part not in self._allowed_body_parts):
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terminates=True
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||||
|
||||
return terminates
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
def InitializePoseFromMotionData(self):
|
||||
frameData = self._motion_data._motion_data['Frames'][self._frame]
|
||||
frameDataNext = self._motion_data._motion_data['Frames'][self._frameNext]
|
||||
pose = HumanoidPose()
|
||||
pose.Slerp(self._frameFraction, frameData, frameDataNext, self._pybullet_client)
|
||||
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
|
||||
|
||||
initializeBase = False
|
||||
self.ApplyPose(pose, initializeBase)
|
||||
|
||||
def ApplyPose(self, pose, initializeBase):
|
||||
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)
|
||||
else:
|
||||
self._pybullet_client.changeVisualShape(self._humanoid, 2 , rgbaColor=[1,1,1,1])
|
||||
maxForce=1000
|
||||
kp=0.8
|
||||
chest=1
|
||||
neck=2
|
||||
rightShoulder=3
|
||||
rightElbow=4
|
||||
leftShoulder=6
|
||||
leftElbow = 7
|
||||
rightHip = 9
|
||||
rightKnee=10
|
||||
rightAnkle=11
|
||||
leftHip = 12
|
||||
leftKnee=13
|
||||
leftAnkle=14
|
||||
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)
|
||||
|
||||
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)
|
||||
|
||||
76
examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
Normal file
76
examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
Normal file
@@ -0,0 +1,76 @@
|
||||
import os, inspect
|
||||
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
|
||||
parentdir = os.path.dirname(os.path.dirname(currentdir))
|
||||
os.sys.path.insert(0,parentdir)
|
||||
|
||||
from pybullet_envs.deep_mimic.humanoid import Humanoid
|
||||
from pybullet_utils.bullet_client import BulletClient
|
||||
from pybullet_envs.deep_mimic.motion_capture_data import MotionCaptureData
|
||||
import pybullet_data
|
||||
import pybullet
|
||||
import time
|
||||
import random
|
||||
|
||||
bc = BulletClient(connection_mode=pybullet.GUI)
|
||||
bc.setAdditionalSearchPath(pybullet_data.getDataPath())
|
||||
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"
|
||||
motion.Load(motionPath)
|
||||
print("numFrames = ", motion.NumFrames())
|
||||
frameTimeId= bc.addUserDebugParameter("frameTime",0,motion.NumFrames()-1.1,0)
|
||||
|
||||
y2zOrn = bc.getQuaternionFromEuler([-1.57,0,0])
|
||||
bc.loadURDF("plane.urdf",[0,-0.08,0], y2zOrn)
|
||||
|
||||
humanoid = Humanoid(bc, motion,[0,0,0])
|
||||
|
||||
frameTime = 0
|
||||
keyFrameDuration = motion.KeyFrameDuraction()
|
||||
print("keyFrameDuration=",keyFrameDuration)
|
||||
#for i in range (50):
|
||||
# bc.stepSimulation()
|
||||
|
||||
stage = 0
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
def Reset(humanoid):
|
||||
global frameTime
|
||||
humanoid.Reset()
|
||||
frameTime = 0#random.randint(0,motion.NumFrames()-2)
|
||||
print("RESET frametime=",frameTime)
|
||||
humanoid.SetFrameTime(frameTime)
|
||||
pose = humanoid.InitializePoseFromMotionData()
|
||||
humanoid.ApplyPose(pose, True)
|
||||
|
||||
|
||||
Reset(humanoid)
|
||||
bc.stepSimulation()
|
||||
|
||||
while (1):
|
||||
#frameTime = 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)
|
||||
|
||||
pose = humanoid.InitializePoseFromMotionData()
|
||||
|
||||
#humanoid.ApplyPose(pose, False)#False, False)
|
||||
if (humanoid.Terminates()):
|
||||
Reset(humanoid)
|
||||
|
||||
bc.stepSimulation()
|
||||
|
||||
|
||||
time.sleep(1./240.)
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
import json
|
||||
|
||||
class MotionCaptureData(object):
|
||||
def __init__(self):
|
||||
self.Reset()
|
||||
|
||||
def Reset(self):
|
||||
self._motion_data = []
|
||||
|
||||
def Load(self, path):
|
||||
with open(path, 'r') as f:
|
||||
self._motion_data = json.load(f)
|
||||
|
||||
def NumFrames(self):
|
||||
return len(self._motion_data['Frames'])
|
||||
|
||||
def KeyFrameDuraction(self):
|
||||
return self._motion_data['Frames'][0][0]
|
||||
|
||||
@@ -8809,6 +8809,55 @@ static PyObject* pybullet_invertTransform(PyObject* self,
|
||||
}
|
||||
|
||||
|
||||
static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
PyObject* quatStartObj;
|
||||
PyObject* quatEndObj;
|
||||
double quatStart[4];
|
||||
double quatEnd[4];
|
||||
double deltaTime;
|
||||
int physicsClientId = 0;
|
||||
int hasQuatStart = 0;
|
||||
int hasQuatEnd = 0;
|
||||
|
||||
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "deltaTime", "physicsClientId", NULL };
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOd|i", kwlist, &quatStartObj, &quatEndObj, &deltaTime, &physicsClientId))
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (quatStartObj)
|
||||
{
|
||||
hasQuatStart = pybullet_internalSetVector4d(quatStartObj, quatStart);
|
||||
}
|
||||
|
||||
if (quatEndObj)
|
||||
{
|
||||
hasQuatEnd = pybullet_internalSetVector4d(quatEndObj, quatEnd);
|
||||
}
|
||||
if (hasQuatStart && hasQuatEnd)
|
||||
{
|
||||
double angVelOut[3];
|
||||
b3CalculateVelocityQuaternion(quatStart, quatEnd, deltaTime, angVelOut);
|
||||
{
|
||||
PyObject* pylist;
|
||||
int i;
|
||||
pylist = PyTuple_New(3);
|
||||
for (i = 0; i < 3; i++)
|
||||
PyTuple_SetItem(pylist, i, PyFloat_FromDouble(angVelOut[i]));
|
||||
return pylist;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
PyErr_SetString(SpamError, "Require start and end quaternion, each with 4 components [x,y,z,w].");
|
||||
return NULL;
|
||||
}
|
||||
Py_INCREF(Py_None);
|
||||
return Py_None;
|
||||
}
|
||||
|
||||
|
||||
static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
PyObject* quatStartObj;
|
||||
@@ -8858,6 +8907,145 @@ static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyO
|
||||
}
|
||||
|
||||
|
||||
static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
int physicsClientId = 0;
|
||||
PyObject* quatObj;
|
||||
double quat[4];
|
||||
int hasQuat = 0;
|
||||
|
||||
static char* kwlist[] = { "quaternion", "physicsClientId", NULL };
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|i", kwlist, &quatObj, &physicsClientId))
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (quatObj)
|
||||
{
|
||||
hasQuat = pybullet_internalSetVector4d(quatObj, quat);
|
||||
}
|
||||
|
||||
if (hasQuat)
|
||||
{
|
||||
double axis[3];
|
||||
double angle;
|
||||
b3GetAxisAngleFromQuaternion(quat, axis, &angle);
|
||||
{
|
||||
PyObject* pylist2 = PyTuple_New(2);
|
||||
{
|
||||
PyObject* axislist;
|
||||
int i;
|
||||
axislist = PyTuple_New(3);
|
||||
for (i = 0; i < 3; i++)
|
||||
PyTuple_SetItem(axislist, i, PyFloat_FromDouble(axis[i]));
|
||||
PyTuple_SetItem(pylist2, 0, axislist);
|
||||
}
|
||||
PyTuple_SetItem(pylist2, 1, PyFloat_FromDouble(angle));
|
||||
|
||||
return pylist2;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
PyErr_SetString(SpamError, "Require a quaternion with 4 components [x,y,z,w].");
|
||||
return NULL;
|
||||
}
|
||||
Py_INCREF(Py_None);
|
||||
return Py_None;
|
||||
}
|
||||
|
||||
|
||||
static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
PyObject* axisObj;
|
||||
double axis[3];
|
||||
double angle;
|
||||
int physicsClientId = 0;
|
||||
int hasAxis = 0;
|
||||
|
||||
static char* kwlist[] = { "axis", "angle","physicsClientId", NULL };
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "Od|i", kwlist, &axisObj, &angle,&physicsClientId))
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (axisObj)
|
||||
{
|
||||
hasAxis = pybullet_internalSetVectord(axisObj, axis);
|
||||
}
|
||||
|
||||
if (hasAxis)
|
||||
{
|
||||
double quatOut[4];
|
||||
b3GetQuaternionFromAxisAngle(axis, angle, quatOut);
|
||||
{
|
||||
PyObject* pylist;
|
||||
int i;
|
||||
pylist = PyTuple_New(4);
|
||||
for (i = 0; i < 4; i++)
|
||||
PyTuple_SetItem(pylist, i, PyFloat_FromDouble(quatOut[i]));
|
||||
return pylist;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
PyErr_SetString(SpamError, "Require axis [x,y,z] and angle.");
|
||||
return NULL;
|
||||
}
|
||||
Py_INCREF(Py_None);
|
||||
return Py_None;
|
||||
}
|
||||
|
||||
|
||||
static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
PyObject* quatStartObj;
|
||||
PyObject* quatEndObj;
|
||||
double quatStart[4];
|
||||
double quatEnd[4];
|
||||
int physicsClientId = 0;
|
||||
int hasQuatStart = 0;
|
||||
int hasQuatEnd = 0;
|
||||
|
||||
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "physicsClientId", NULL };
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId))
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (quatStartObj)
|
||||
{
|
||||
hasQuatStart = pybullet_internalSetVector4d(quatStartObj, quatStart);
|
||||
}
|
||||
|
||||
if (quatEndObj)
|
||||
{
|
||||
hasQuatEnd = pybullet_internalSetVector4d(quatEndObj, quatEnd);
|
||||
}
|
||||
if (hasQuatStart && hasQuatEnd)
|
||||
{
|
||||
double quatOut[4];
|
||||
b3GetQuaternionDifference(quatStart, quatEnd, quatOut);
|
||||
{
|
||||
PyObject* pylist;
|
||||
int i;
|
||||
pylist = PyTuple_New(4);
|
||||
for (i = 0; i < 4; i++)
|
||||
PyTuple_SetItem(pylist, i, PyFloat_FromDouble(quatOut[i]));
|
||||
return pylist;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
PyErr_SetString(SpamError, "Require start and end quaternion, each with 4 components [x,y,z,w].");
|
||||
return NULL;
|
||||
}
|
||||
Py_INCREF(Py_None);
|
||||
return Py_None;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo
|
||||
/// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc
|
||||
static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
|
||||
@@ -10115,6 +10303,18 @@ static PyMethodDef SpamMethods[] = {
|
||||
{ "getQuaternionSlerp", (PyCFunction)pybullet_getQuaternionSlerp, METH_VARARGS | METH_KEYWORDS,
|
||||
"Compute the spherical interpolation given a start and end quaternion and an interpolation value in range [0..1]" },
|
||||
|
||||
{ "getQuaternionFromAxisAngle", (PyCFunction)pybullet_getQuaternionFromAxisAngle, METH_VARARGS | METH_KEYWORDS,
|
||||
"Compute the quaternion from axis and angle representation." },
|
||||
|
||||
{ "getAxisAngleFromQuaternion", (PyCFunction)pybullet_getAxisAngleFromQuaternion, METH_VARARGS | METH_KEYWORDS,
|
||||
"Compute the quaternion from axis and angle representation." },
|
||||
|
||||
{ "getDifferenceQuaternion", (PyCFunction)pybullet_getDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS,
|
||||
"Compute the quaternion difference from two quaternions." },
|
||||
|
||||
{ "calculateVelocityQuaternion", (PyCFunction)pybullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS,
|
||||
"Compute the angular velocity given start and end quaternion and delta time." },
|
||||
|
||||
{"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS,
|
||||
"Given an object id, joint positions, joint velocities and joint "
|
||||
"accelerations, compute the joint forces using Inverse Dynamics"},
|
||||
|
||||
Reference in New Issue
Block a user