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Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion

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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
2018-11-16 17:29:03 -08:00
parent b13e84e43c
commit 9e99f5cdbc
9 changed files with 640 additions and 6 deletions
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examples/pybullet/examples/humanoidMotionCapture.py
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@@ -16,7 +16,7 @@ p.setPhysicsEngineParameter(numSolverIterations=200)
#path = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"
path = pybullet_data.getDataPath()+"/motions/humanoid3d_cartwheel.txt"
p.loadURDF("plane.urdf",[0,0,-1])
p.loadURDF("plane.urdf",[0,0,-0.03])
print("path = ", path)
with open(path, 'r') as f:
motion_dict = json.load(f)