684 lines
30 KiB
Python
684 lines
30 KiB
Python
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
|
|
|