9e99f5cdbc
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
77 lines
2.0 KiB
Python
77 lines
2.0 KiB
Python
import os, inspect
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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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from pybullet_envs.deep_mimic.humanoid import Humanoid
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from pybullet_utils.bullet_client import BulletClient
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from pybullet_envs.deep_mimic.motion_capture_data import MotionCaptureData
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import pybullet_data
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import pybullet
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import time
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import random
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bc = BulletClient(connection_mode=pybullet.GUI)
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bc.setAdditionalSearchPath(pybullet_data.getDataPath())
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bc.configureDebugVisualizer(bc.COV_ENABLE_Y_AXIS_UP,1)
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bc.setGravity(0,-9.8,0)
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motion=MotionCaptureData()
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motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"#humanoid3d_spinkick.txt"#humanoid3d_backflip.txt"
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motion.Load(motionPath)
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print("numFrames = ", motion.NumFrames())
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frameTimeId= bc.addUserDebugParameter("frameTime",0,motion.NumFrames()-1.1,0)
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y2zOrn = bc.getQuaternionFromEuler([-1.57,0,0])
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bc.loadURDF("plane.urdf",[0,-0.08,0], y2zOrn)
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humanoid = Humanoid(bc, motion,[0,0,0])
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frameTime = 0
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keyFrameDuration = motion.KeyFrameDuraction()
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print("keyFrameDuration=",keyFrameDuration)
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#for i in range (50):
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# bc.stepSimulation()
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stage = 0
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def Reset(humanoid):
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global frameTime
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humanoid.Reset()
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frameTime = 0#random.randint(0,motion.NumFrames()-2)
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print("RESET frametime=",frameTime)
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humanoid.SetFrameTime(frameTime)
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pose = humanoid.InitializePoseFromMotionData()
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humanoid.ApplyPose(pose, True)
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Reset(humanoid)
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bc.stepSimulation()
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while (1):
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#frameTime = bc.readUserDebugParameter(frameTimeId)
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#print("keyFrameDuration=",keyFrameDuration)
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dt = (1./240.)/keyFrameDuration
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#print("dt=",dt)
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frameTime += dt
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if (frameTime >= (motion.NumFrames())-1.1):
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frameTime = motion.NumFrames()-1.1
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#print("frameTime=", frameTime)
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humanoid.SetFrameTime(frameTime)
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pose = humanoid.InitializePoseFromMotionData()
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#humanoid.ApplyPose(pose, False)#False, False)
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if (humanoid.Terminates()):
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Reset(humanoid)
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bc.stepSimulation()
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time.sleep(1./240.)
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