import os, inspect import math 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_utils.bullet_client import BulletClient import pybullet_data jointTypes = ["JOINT_REVOLUTE","JOINT_PRISMATIC", "JOINT_SPHERICAL","JOINT_PLANAR","JOINT_FIXED"] class HumanoidPose(object): def __init__(self): pass def Reset(self): self._basePos = [0,0,0] self._baseLinVel = [0,0,0] self._baseOrn = [0,0,0,1] self._baseAngVel = [0,0,0] self._chestRot = [0,0,0,1] self._chestVel = [0,0,0] self._neckRot = [0,0,0,1] self._neckVel = [0,0,0] self._rightHipRot = [0,0,0,1] self._rightHipVel = [0,0,0] self._rightKneeRot = [0] self._rightKneeVel = [0] self._rightAnkleRot = [0,0,0,1] self._rightAnkleVel = [0,0,0] self._rightShoulderRot = [0,0,0,1] self._rightShoulderVel = [0,0,0] self._rightElbowRot = [0] self._rightElbowVel = [0] self._leftHipRot = [0,0,0,1] self._leftHipVel = [0,0,0] self._leftKneeRot = [0] self._leftKneeVel = [0] self._leftAnkleRot = [0,0,0,1] self._leftAnkleVel = [0,0,0] self._leftShoulderRot = [0,0,0,1] self._leftShoulderVel = [0,0,0] self._leftElbowRot = [0] self._leftElbowVel = [0] def ComputeLinVel(self,posStart, posEnd, deltaTime): vel = [(posEnd[0]-posStart[0])/deltaTime,(posEnd[1]-posStart[1])/deltaTime,(posEnd[2]-posStart[2])/deltaTime] return vel def ComputeAngVel(self,ornStart, ornEnd, deltaTime, bullet_client): dorn = bullet_client.getDifferenceQuaternion(ornStart,ornEnd) axis,angle = bullet_client.getAxisAngleFromQuaternion(dorn) angVel = [(axis[0]*angle)/deltaTime,(axis[1]*angle)/deltaTime,(axis[2]*angle)/deltaTime] return angVel 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) def PostProcessMotionData(self, frameData): baseOrn1Start = [frameData[5],frameData[6], frameData[7],frameData[4]] self.NormalizeQuaternion(baseOrn1Start) chestRotStart = [frameData[9],frameData[10],frameData[11],frameData[8]] neckRotStart = [frameData[13],frameData[14],frameData[15],frameData[12]] rightHipRotStart = [frameData[17],frameData[18],frameData[19],frameData[16]] rightAnkleRotStart = [frameData[22],frameData[23],frameData[24],frameData[21]] rightShoulderRotStart = [frameData[26],frameData[27],frameData[28],frameData[25]] leftHipRotStart = [frameData[31],frameData[32],frameData[33],frameData[30]] 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]] basePos1End = [frameDataNext[1],frameDataNext[2],frameDataNext[3]] self._basePos = [basePos1Start[0]+frameFraction*(basePos1End[0]-basePos1Start[0]), basePos1Start[1]+frameFraction*(basePos1End[1]-basePos1Start[1]), basePos1Start[2]+frameFraction*(basePos1End[2]-basePos1Start[2])] self._baseLinVel = self.ComputeLinVel(basePos1Start,basePos1End, keyFrameDuration) baseOrn1Start = [frameData[5],frameData[6], frameData[7],frameData[4]] baseOrn1Next = [frameDataNext[5],frameDataNext[6], frameDataNext[7],frameDataNext[4]] self._baseOrn = bullet_client.getQuaternionSlerp(baseOrn1Start,baseOrn1Next,frameFraction) self._baseAngVel = self.ComputeAngVel(baseOrn1Start,baseOrn1Next, keyFrameDuration, bullet_client) ##pre-rotate to make z-up #y2zPos=[0,0,0.0] #y2zOrn = p.getQuaternionFromEuler([1.57,0,0]) #basePos,baseOrn = p.multiplyTransforms(y2zPos, y2zOrn,basePos1,baseOrn1) chestRotStart = [frameData[9],frameData[10],frameData[11],frameData[8]] chestRotEnd = [frameDataNext[9],frameDataNext[10],frameDataNext[11],frameDataNext[8]] self._chestRot = bullet_client.getQuaternionSlerp(chestRotStart,chestRotEnd,frameFraction) self._chestVel = self.ComputeAngVel(chestRotStart,chestRotEnd,keyFrameDuration,bullet_client) neckRotStart = [frameData[13],frameData[14],frameData[15],frameData[12]] neckRotEnd= [frameDataNext[13],frameDataNext[14],frameDataNext[15],frameDataNext[12]] self._neckRot = bullet_client.getQuaternionSlerp(neckRotStart,neckRotEnd,frameFraction) self._neckVel = self.ComputeAngVel(neckRotStart,neckRotEnd,keyFrameDuration,bullet_client) rightHipRotStart = [frameData[17],frameData[18],frameData[19],frameData[16]] rightHipRotEnd = [frameDataNext[17],frameDataNext[18],frameDataNext[19],frameDataNext[16]] self._rightHipRot = bullet_client.getQuaternionSlerp(rightHipRotStart,rightHipRotEnd,frameFraction) self._rightHipVel = self.ComputeAngVel(rightHipRotStart,rightHipRotEnd,keyFrameDuration,bullet_client) rightKneeRotStart = [frameData[20]] rightKneeRotEnd = [frameDataNext[20]] self._rightKneeRot = [rightKneeRotStart[0]+frameFraction*(rightKneeRotEnd[0]-rightKneeRotStart[0])] 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]] self._rightAnkleRot = bullet_client.getQuaternionSlerp(rightAnkleRotStart,rightAnkleRotEnd,frameFraction) self._rightAnkleVel = self.ComputeAngVel(rightAnkleRotStart,rightAnkleRotEnd,keyFrameDuration,bullet_client) rightShoulderRotStart = [frameData[26],frameData[27],frameData[28],frameData[25]] rightShoulderRotEnd = [frameDataNext[26],frameDataNext[27],frameDataNext[28],frameDataNext[25]] self._rightShoulderRot = bullet_client.getQuaternionSlerp(rightShoulderRotStart,rightShoulderRotEnd,frameFraction) self._rightShoulderVel = self.ComputeAngVel(rightShoulderRotStart,rightShoulderRotEnd, keyFrameDuration,bullet_client) rightElbowRotStart = [frameData[29]] rightElbowRotEnd = [frameDataNext[29]] self._rightElbowRot = [rightElbowRotStart[0]+frameFraction*(rightElbowRotEnd[0]-rightElbowRotStart[0])] 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]] self._leftHipRot = bullet_client.getQuaternionSlerp(leftHipRotStart,leftHipRotEnd,frameFraction) self._leftHipVel = self.ComputeAngVel(leftHipRotStart, leftHipRotEnd,keyFrameDuration,bullet_client) leftKneeRotStart = [frameData[34]] leftKneeRotEnd = [frameDataNext[34]] self._leftKneeRot = [leftKneeRotStart[0] +frameFraction*(leftKneeRotEnd[0]-leftKneeRotStart[0]) ] 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]] self._leftAnkleRot = bullet_client.getQuaternionSlerp(leftAnkleRotStart,leftAnkleRotEnd,frameFraction) self._leftAnkleVel = self.ComputeAngVel(leftAnkleRotStart,leftAnkleRotEnd,keyFrameDuration,bullet_client) leftShoulderRotStart = [frameData[40],frameData[41],frameData[42],frameData[39]] leftShoulderRotEnd = [frameDataNext[40],frameDataNext[41],frameDataNext[42],frameDataNext[39]] self._leftShoulderRot = bullet_client.getQuaternionSlerp(leftShoulderRotStart,leftShoulderRotEnd,frameFraction) self._leftShoulderVel = self.ComputeAngVel(leftShoulderRotStart,leftShoulderRotEnd,keyFrameDuration,bullet_client) leftElbowRotStart = [frameData[43]] leftElbowRotEnd = [frameDataNext[43]] self._leftElbowRot = [leftElbowRotStart[0]+frameFraction*(leftElbowRotEnd[0]-leftElbowRotStart[0])] self._leftElbowVel = [(leftElbowRotEnd[0]-leftElbowRotStart[0])/keyFrameDuration] class Humanoid(object): def __init__(self, pybullet_client, motion_data, baseShift): """Constructs a humanoid and reset it to the initial states. Args: pybullet_client: The instance of BulletClient to manage different simulations. """ self._baseShift = baseShift self._pybullet_client = pybullet_client self.kin_client = BulletClient(pybullet_client.DIRECT)# use SHARED_MEMORY for visual debugging, start a GUI physics server first self.kin_client.resetSimulation() self.kin_client.setAdditionalSearchPath(pybullet_data.getDataPath()) self.kin_client.configureDebugVisualizer(self.kin_client.COV_ENABLE_Y_AXIS_UP,1) self.kin_client.setGravity(0,-9.8,0) self._motion_data = motion_data print("LOADING humanoid!") self._humanoid = self._pybullet_client.loadURDF( "humanoid/humanoid.urdf", [0,0.9,0],globalScaling=0.25, useFixedBase=False) self._kinematicHumanoid = self.kin_client.loadURDF( "humanoid/humanoid.urdf", [0,0.9,0],globalScaling=0.25, useFixedBase=False) #print("human #joints=", self._pybullet_client.getNumJoints(self._humanoid)) pose = HumanoidPose() for i in range (self._motion_data.NumFrames()-1): frameData = self._motion_data._motion_data['Frames'][i] pose.PostProcessMotionData(frameData) 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] self.Reset() def Reset(self): self._pybullet_client.restoreState(self._initial_state) self.SetSimTime(0) pose = self.InitializePoseFromMotionData() self.ApplyPose(pose, True, True, self._humanoid, self._pybullet_client) 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 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 = (frameTime - self._frame*keyFrameDuration)/(keyFrameDuration) #print("self._frameFraction=",self._frameFraction) def Terminates(self): #check if any non-allowed body part hits the ground terminates=False pts = self._pybullet_client.getContactPoints() for p in pts: part = -1 if (p[1]==self._humanoid): part=p[3] if (p[2]==self._humanoid): part=p[4] 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] 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() 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 initializeVelocities = False self.ApplyPose(pose, initializeBase, initializeVelocities, self._humanoid, self._pybullet_client) def ApplyPose(self, pose, initializeBase, initializeVelocities, humanoid,bc): #todo: get tunable parametes from a json file or from URDF (kd, maxForce) if (initializeBase): bc.changeVisualShape(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]] bc.resetBasePositionAndOrientation(humanoid, basePos, pose._baseOrn) if initializeVelocities: bc.resetBaseVelocity(humanoid, pose._baseLinVel, pose._baseAngVel) #print("resetBaseVelocity=",pose._baseLinVel) else: bc.changeVisualShape(humanoid, 2 , rgbaColor=[1,1,1,1]) kp=0.03 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 = bc.POSITION_CONTROL if (initializeBase): if initializeVelocities: bc.resetJointStateMultiDof(humanoid,chest,pose._chestRot, pose._chestVel) bc.resetJointStateMultiDof(humanoid,neck,pose._neckRot, pose._neckVel) bc.resetJointStateMultiDof(humanoid,rightHip,pose._rightHipRot, pose._rightHipVel) bc.resetJointStateMultiDof(humanoid,rightKnee,pose._rightKneeRot, pose._rightKneeVel) bc.resetJointStateMultiDof(humanoid,rightAnkle,pose._rightAnkleRot, pose._rightAnkleVel) bc.resetJointStateMultiDof(humanoid,rightShoulder,pose._rightShoulderRot, pose._rightShoulderVel) bc.resetJointStateMultiDof(humanoid,rightElbow, pose._rightElbowRot, pose._rightElbowVel) bc.resetJointStateMultiDof(humanoid,leftHip, pose._leftHipRot, pose._leftHipVel) bc.resetJointStateMultiDof(humanoid,leftKnee, pose._leftKneeRot, pose._leftKneeVel) bc.resetJointStateMultiDof(humanoid,leftAnkle, pose._leftAnkleRot, pose._leftAnkleVel) bc.resetJointStateMultiDof(humanoid,leftShoulder, pose._leftShoulderRot, pose._leftShoulderVel) bc.resetJointStateMultiDof(humanoid,leftElbow, pose._leftElbowRot, pose._leftElbowVel) else: bc.resetJointStateMultiDof(humanoid,chest,pose._chestRot) bc.resetJointStateMultiDof(humanoid,neck,pose._neckRot) bc.resetJointStateMultiDof(humanoid,rightHip,pose._rightHipRot) bc.resetJointStateMultiDof(humanoid,rightKnee,pose._rightKneeRot) bc.resetJointStateMultiDof(humanoid,rightAnkle,pose._rightAnkleRot) bc.resetJointStateMultiDof(humanoid,rightShoulder,pose._rightShoulderRot) bc.resetJointStateMultiDof(humanoid,rightElbow, pose._rightElbowRot) bc.resetJointStateMultiDof(humanoid,leftHip, pose._leftHipRot) bc.resetJointStateMultiDof(humanoid,leftKnee, pose._leftKneeRot) bc.resetJointStateMultiDof(humanoid,leftAnkle, pose._leftAnkleRot) bc.resetJointStateMultiDof(humanoid,leftShoulder, pose._leftShoulderRot) bc.resetJointStateMultiDof(humanoid,leftElbow, pose._leftElbowRot) bc.setJointMotorControlMultiDof(humanoid,chest,controlMode, targetPosition=pose._chestRot,positionGain=kp, force=[200]) bc.setJointMotorControlMultiDof(humanoid,neck,controlMode,targetPosition=pose._neckRot,positionGain=kp, force=[50]) bc.setJointMotorControlMultiDof(humanoid,rightHip,controlMode,targetPosition=pose._rightHipRot,positionGain=kp, force=[200]) bc.setJointMotorControlMultiDof(humanoid,rightKnee,controlMode,targetPosition=pose._rightKneeRot,positionGain=kp, force=[150]) bc.setJointMotorControlMultiDof(humanoid,rightAnkle,controlMode,targetPosition=pose._rightAnkleRot,positionGain=kp, force=[90]) bc.setJointMotorControlMultiDof(humanoid,rightShoulder,controlMode,targetPosition=pose._rightShoulderRot,positionGain=kp, force=[100]) bc.setJointMotorControlMultiDof(humanoid,rightElbow, controlMode,targetPosition=pose._rightElbowRot,positionGain=kp, force=[60]) bc.setJointMotorControlMultiDof(humanoid,leftHip, controlMode,targetPosition=pose._leftHipRot,positionGain=kp, force=[200]) bc.setJointMotorControlMultiDof(humanoid,leftKnee, controlMode,targetPosition=pose._leftKneeRot,positionGain=kp, force=[150]) bc.setJointMotorControlMultiDof(humanoid,leftAnkle, controlMode,targetPosition=pose._leftAnkleRot,positionGain=kp, force=[90]) bc.setJointMotorControlMultiDof(humanoid,leftShoulder, controlMode,targetPosition=pose._leftShoulderRot,positionGain=kp, force=[100]) bc.setJointMotorControlMultiDof(humanoid,leftElbow, controlMode,targetPosition=pose._leftElbowRot,positionGain=kp, force=[60]) #debug space #if (False): # for j in range (bc.getNumJoints(self._humanoid)): # js = bc.getJointState(self._humanoid, j) # bc.resetJointState(self._humanoidDebug, j,js[0]) # jsm = bc.getJointStateMultiDof(self._humanoid, j) # if (len(jsm[0])>0): # bc.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]) self.pb2dmJoints=[0,1,2,9,10,11,3,4,5,12,13,14,6,7,8] for pbJoint in range (self._pybullet_client.getNumJoints(self._humanoid)): j = self.pb2dmJoints[pbJoint] #print("joint order:",j) 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) #re-order the quaternion, DeepMimic uses w,x,y,z stateVector.append(linkOrnLocal[3]) stateVector.append(linkOrnLocal[0]) stateVector.append(linkOrnLocal[1]) stateVector.append(linkOrnLocal[2]) for pbJoint in range (self._pybullet_client.getNumJoints(self._humanoid)): j = self.pb2dmJoints[pbJoint] 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)) #for st in range (len(stateVector)): # print("state[",st,"]=",stateVector[st]) return stateVector def GetReward(self): #from DeepMimic double cSceneImitate::CalcRewardImitate pose_w = 0.5 vel_w = 0.05 end_eff_w = 0 #0.15 root_w = 0 #0.2 com_w = 0.1 total_w = pose_w + vel_w + end_eff_w + root_w + com_w pose_w /= total_w vel_w /= total_w end_eff_w /= total_w root_w /= total_w com_w /= total_w pose_scale = 2 vel_scale = 0.1 end_eff_scale = 40 root_scale = 5 com_scale = 10 err_scale = 1 reward = 0 pose_err = 0 vel_err = 0 end_eff_err = 0 root_err = 0 com_err = 0 heading_err = 0 #create a mimic reward, comparing the dynamics humanoid with a kinematic one pose = self.InitializePoseFromMotionData() #print("self._kinematicHumanoid=",self._kinematicHumanoid) #print("kinematicHumanoid #joints=",self.kin_client.getNumJoints(self._kinematicHumanoid)) self.ApplyPose(pose, True, True, self._kinematicHumanoid, self.kin_client) #const Eigen::VectorXd& pose0 = sim_char.GetPose(); #const Eigen::VectorXd& vel0 = sim_char.GetVel(); #const Eigen::VectorXd& pose1 = kin_char.GetPose(); #const Eigen::VectorXd& vel1 = kin_char.GetVel(); #tMatrix origin_trans = sim_char.BuildOriginTrans(); #tMatrix kin_origin_trans = kin_char.BuildOriginTrans(); # #tVector com0_world = sim_char.CalcCOM(); #tVector com_vel0_world = sim_char.CalcCOMVel(); #tVector com1_world; #tVector com_vel1_world; #cRBDUtil::CalcCoM(joint_mat, body_defs, pose1, vel1, com1_world, com_vel1_world); # root_id = 0 #tVector root_pos0 = cKinTree::GetRootPos(joint_mat, pose0); #tVector root_pos1 = cKinTree::GetRootPos(joint_mat, pose1); #tQuaternion root_rot0 = cKinTree::GetRootRot(joint_mat, pose0); #tQuaternion root_rot1 = cKinTree::GetRootRot(joint_mat, pose1); #tVector root_vel0 = cKinTree::GetRootVel(joint_mat, vel0); #tVector root_vel1 = cKinTree::GetRootVel(joint_mat, vel1); #tVector root_ang_vel0 = cKinTree::GetRootAngVel(joint_mat, vel0); #tVector root_ang_vel1 = cKinTree::GetRootAngVel(joint_mat, vel1); mJointWeights = [0.20833,0.10416, 0.0625, 0.10416, 0.0625, 0.041666666666666671, 0.0625, 0.0416, 0.00, 0.10416, 0.0625, 0.0416, 0.0625, 0.0416, 0.0000] num_end_effs = 0 num_joints = 15 root_rot_w = mJointWeights[root_id] #pose_err += root_rot_w * cKinTree::CalcRootRotErr(joint_mat, pose0, pose1) #vel_err += root_rot_w * cKinTree::CalcRootAngVelErr(joint_mat, vel0, vel1) for j in range (num_joints): curr_pose_err = 0 curr_vel_err = 0 w = mJointWeights[j]; simJointInfo = self._pybullet_client.getJointStateMultiDof(self._humanoid, j) #print("simJointInfo.pos=",simJointInfo[0]) #print("simJointInfo.vel=",simJointInfo[1]) kinJointInfo = self.kin_client.getJointStateMultiDof(self._kinematicHumanoid,j) #print("kinJointInfo.pos=",kinJointInfo[0]) #print("kinJointInfo.vel=",kinJointInfo[1]) if (len(simJointInfo[0])==1): angle = simJointInfo[0][0]-kinJointInfo[0][0] curr_pose_err = angle*angle velDiff = simJointInfo[1][0]-kinJointInfo[1][0] curr_vel_err = velDiff*velDiff if (len(simJointInfo[0])==4): #print("quaternion diff") diffQuat = self._pybullet_client.getDifferenceQuaternion(simJointInfo[0],kinJointInfo[0]) axis,angle = self._pybullet_client.getAxisAngleFromQuaternion(diffQuat) curr_pose_err = angle*angle diffVel = [simJointInfo[1][0]-kinJointInfo[1][0],simJointInfo[1][1]-kinJointInfo[1][1],simJointInfo[1][2]-kinJointInfo[1][2]] curr_vel_err = diffVel[0]*diffVel[0]+diffVel[1]*diffVel[1]+diffVel[2]*diffVel[2] pose_err += w * curr_pose_err vel_err += w * curr_vel_err # bool is_end_eff = sim_char.IsEndEffector(j) # if (is_end_eff) # { # tVector pos0 = sim_char.CalcJointPos(j) # tVector pos1 = cKinTree::CalcJointWorldPos(joint_mat, pose1, j) # double ground_h0 = mGround->SampleHeight(pos0) # double ground_h1 = kin_char.GetOriginPos()[1] # # tVector pos_rel0 = pos0 - root_pos0 # tVector pos_rel1 = pos1 - root_pos1 # pos_rel0[1] = pos0[1] - ground_h0 # pos_rel1[1] = pos1[1] - ground_h1 # # pos_rel0 = origin_trans * pos_rel0 # pos_rel1 = kin_origin_trans * pos_rel1 # # curr_end_err = (pos_rel1 - pos_rel0).squaredNorm() # end_eff_err += curr_end_err; # ++num_end_effs; # } #} #if (num_end_effs > 0): # end_eff_err /= num_end_effs # #double root_ground_h0 = mGround->SampleHeight(sim_char.GetRootPos()) #double root_ground_h1 = kin_char.GetOriginPos()[1] #root_pos0[1] -= root_ground_h0 #root_pos1[1] -= root_ground_h1 #root_pos_err = (root_pos0 - root_pos1).squaredNorm() # #root_rot_err = cMathUtil::QuatDiffTheta(root_rot0, root_rot1) #root_rot_err *= root_rot_err #root_vel_err = (root_vel1 - root_vel0).squaredNorm() #root_ang_vel_err = (root_ang_vel1 - root_ang_vel0).squaredNorm() #root_err = root_pos_err # + 0.1 * root_rot_err # + 0.01 * root_vel_err # + 0.001 * root_ang_vel_err #com_err = 0.1 * (com_vel1_world - com_vel0_world).squaredNorm() #print("pose_err=",pose_err) #print("vel_err=",vel_err) pose_reward = math.exp(-err_scale * pose_scale * pose_err) vel_reward = math.exp(-err_scale * vel_scale * vel_err) end_eff_reward = math.exp(-err_scale * end_eff_scale * end_eff_err) root_reward = math.exp(-err_scale * root_scale * root_err) com_reward = math.exp(-err_scale * com_scale * com_err) reward = pose_w * pose_reward + vel_w * vel_reward + end_eff_w * end_eff_reward + root_w * root_reward + com_w * com_reward #print("reward = %f (pose_reward=%f, vel_reward=%f, end_eff_reward=%f, root_reward=%f, com_reward=%f)\n", reward, # pose_reward,vel_reward,end_eff_reward, root_reward, com_reward); return reward def GetBasePosition(self): pos,orn = self._pybullet_client.getBasePositionAndOrientation(self._humanoid) return pos