def test_body_force_funcs():
bvhFilePath = '../samples/chain_1.bvh'
# bvhFilePath = '../samples/chain_6.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 100.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.gravity = (0,0,0)
stepsPerFrame = 60
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.setBodyPositionGlobal(0, (0,1,0))
###################################################################
# apply force == add force
# controlModel.applyBodyGenForceGlobal(0, (0,0,100), (0,-100,0), (0,0,0))
# above 1 line == below 2 lines
controlModel.applyBodyTorqueGlobal(0, (0,0,100))
controlModel.applyBodyForceGlobal(0, (0,-100,0))
p = [mm.O_Vec3()]*controlModel.getBodyNum()
forces = [mm.O_Vec3()] * controlModel.getBodyNum()
netForces = [mm.O_Vec3()] * controlModel.getBodyNum()
gravityForces = [mm.O_Vec3()] * controlModel.getBodyNum()
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
# viewer.doc.addRenderer('forces', yr.VectorsRenderer(forces, p, (255,0,0)))
# viewer.doc.addRenderer('netForces', yr.VectorsRenderer(netForces, p, (0,255,0)))
# viewer.doc.addRenderer('gravityForces', yr.VectorsRenderer(gravityForces, p, (0,0,255)))
viewer.setMaxFrame(500)
def simulateCallback(frame):
p[:] = controlModel.getBodyPositionsGlobal()
forces[0] = controlModel.getBodyForceLocal(0)
netForces[0] = controlModel.getBodyNetForceLocal(0)
gravityForces[0] = controlModel.getBodyGravityForceLocal(0)
for i in range(stepsPerFrame):
vpWorld.step()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_penalty_contact():
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
wcfg.useDefaultContactModel = False
vpWorld = cvw.VpWorld(wcfg)
body = cvb.VpBody(vpWorld)
body.addBoxGeom((1,.1,1), 1)
body.setFrame(mm.p2T((0,.1,0)))
vpWorld.initialize()
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [1.]*len(bodyIDsToCheck)
Ks = 1000; Ds = 2*(Ks**.5)
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer('box', yr.VpBodyRenderer(body, (255,0,0)))
viewer.setMaxFrame(100)
def simulateCallback(frame):
for i in range(stepsPerFrame):
bodyIDs, positions, positionLocals, forces = vpWorld.calcPenaltyForce(bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, positionLocals, forces)
vpWorld.step()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer((1/30.)*.4)
viewer.show()
Fl.run()
def test_OdeControlModel():
# mcfg.defaultContactMode = ode.ContactBounce | ode.ContactSoftERP | ode.ContactSoftCFM
# mcfg.defaultJointAxes = []
# mcfg.defaultJointLoStop = mm.deg2Rad(-5)
# mcfg.defaultJointHiStop = mm.deg2Rad(5)
bvhFilePath = '../samples/block_3_rotate.bvh'
motion = yf.readBvhFile(bvhFilePath)
motion = motion[30:]
AX = numpy.array([1, 0, 0])
AY = numpy.array([0, 1, 0])
AZ = numpy.array([0, 0, 1])
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
mcfg.defaultKp = 100.
mcfg.defaultKd = 1.
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
node = mcfg.getNode('body2')
node.length = 1
node.offset = (0, 0, .2)
# node.jointAxes = [AY]
wcfg = ypc.WorldConfig()
wcfg.planeHeight = None
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / stepsPerFrame
odeWorld = yow.OdeWorld(wcfg, mcfg)
controlModel = OdeControlModel(odeWorld.world, odeWorld.space,
motion[0], mcfg)
controlModel.fixRootBody()
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'motion',
yr.JointMotionRenderer(motion, (0, 0, 255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'model',
yr.OdeModelRenderer(controlModel, (255, 255, 255),
yr.POLYGON_FILL))
def simulateCallback(frame):
for i in range(stepsPerFrame):
torques = controlModel.calcPDTorque(motion[frame])
controlModel.applyTorque(torques)
odeWorld.step()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_hybridDynamics_gravity():
bvhFilePath = '../samples/chain_1.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
# wcfg.gravity = (0,0,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
controlModel2 = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
controlModel2.initializeHybridDynamics()
controlModel2.translateByOffset((1,0,0))
p = []
torques = []
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_FILL))
viewer.doc.addRenderer('model2', cvr.VpModelRenderer(controlModel2, (255,240,255), yr.POLYGON_FILL))
viewer.doc.addRenderer('torques', yr.VectorsRenderer(torques, p, (255,0,0)))
viewer.setMaxFrame(100)
def simulateCallback(frame):
p[:] = controlModel.getInternalJointPositionsGlobal() + controlModel2.getInternalJointPositionsGlobal()
for i in range(stepsPerFrame):
controlModel.solveHybridDynamics()
print 'a', controlModel2.getBodyForceLocal(0)
controlModel2.applyBodyForceGlobal(0, (0,10,0))
print 'b', controlModel2.getBodyForceLocal(0)
controlModel2.solveHybridDynamics()
torques[:] = controlModel.getInternalJointTorquesLocal() + controlModel2.getInternalJointTorquesLocal()
vpWorld.step()
print 'c', controlModel2.getBodyForceLocal(0)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_getInternalJointOrientationsGlobal():
# bvhFilePath = '../samples/block_tree_rotate.bvh'
bvhFilePath = '../samples/chain_3_rotate_expt_root.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
wcfg.gravity = (0,0,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.translateByOffset((0,0,1))
controlModel.fixBody(0)
jointPositions = []
localFrames = []
globalFrames = []
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('localFrames', yr.FramesRenderer(localFrames, (255,0,0)))
viewer.doc.addRenderer('globalFrames', yr.FramesRenderer(globalFrames, (0,255,0)))
def simulateCallback(frame):
controlModel.setJointAngVelocityLocal(1, (0,.5,0))
controlModel.setJointAngVelocityLocal(2, (0,.5,0))
for i in range(stepsPerFrame):
vpWorld.step()
jointPositions[:] = motion[frame].getInternalJointPositionsGlobal() + controlModel.getInternalJointPositionsGlobal()
localFrames[:] = motion.getInternalJointOrientationsLocal(frame) + controlModel.getInternalJointOrientationsLocal()
localFrames[:] = map(mm.Rp2T, localFrames, jointPositions)
globalFrames[:] = motion[frame].getInternalJointOrientationsGlobal() + controlModel.getInternalJointOrientationsGlobal()
globalFrames[:] = map(mm.Rp2T, globalFrames, jointPositions)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_delNode():
bvhFilePath = '../samples/block_3_rotate.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultBoneRatio = .8
node = mcfg.addNode('body1')
# node = mcfg.addNode('body2')
node = mcfg.addNode('body3')
wcfg = ypc.WorldConfig()
wcfg.planeHeight = None
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / stepsPerFrame
odeWorld = yow.OdeWorld(wcfg, mcfg)
controlModel = OdeControlModel(odeWorld.world, odeWorld.space,
motion[0], mcfg)
controlModel.fixRootBody()
motionModel = OdeMotionModel(odeWorld.world, odeWorld.space, motion[0],
mcfg)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'motion',
yr.JointMotionRenderer(motion, (0, 0, 255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'controlModel',
yr.OdeModelRenderer(controlModel, (255, 255, 255),
yr.POLYGON_FILL))
viewer.doc.addRenderer(
'motionModel',
yr.OdeModelRenderer(motionModel, (255, 255, 255), yr.POLYGON_LINE))
def preFrameCallback(frame):
motionModel.update(motion[frame])
viewer.setPreFrameCallback(preFrameCallback)
def simulateCallback(frame):
for i in range(stepsPerFrame):
torques = controlModel.calcPDTorque(motion[frame])
controlModel.applyTorque(torques)
odeWorld.step()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def create_capsule(motionFile='foot3.bvh'):
# motion
motion = yf.readBvhFile(motionFile, .05)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = 1.
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
node = mcfg.getNode('root')
node.geom = 'MyFoot3'
node.length = 1.
node.mass = .5
node = mcfg.getNode('foot_0_0')
node.geom = 'MyFoot4'
node.mass = .5
def mcfgFix(_mcfg):
for v in _mcfg.nodes.itervalues():
if len(v.geoms) == 0:
v.geoms.append(v.geom)
v.geomMass.append(v.mass)
v.geomTs.append(None)
mcfgFix(mcfg)
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 40
simulSpeedInv = 1.
wcfg.timeStep = (1/30.*simulSpeedInv)/stepsPerFrame
# parameter
config = dict([])
config['Kt'] = 20; config['Dt'] = 2*(config['Kt']**.5) # tracking gain
config['Kl'] = 1; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain
config['Kh'] = 1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain
config['Ks'] = 5000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1.
config['Bh'] = 1.
config['stepsPerFrame'] = stepsPerFrame
config['simulSpeedInv'] = simulSpeedInv
# etc
config['weightMap'] = {'root': 2., 'foot_0_0': 1., 'foot_1_0': 1., 'foot_2_0': 1., 'foot_0_1': .2, 'foot_1_1': .2, 'foot_2_1': .2}
config['weightMapTuple'] = (1., .5, .2, .5, .2, .5, .2)
# config['supLink'] = 'link0'
return motion, mcfg, wcfg, stepsPerFrame, config
def create_chiken_foot():
# motion
motion = yf.readBvhFile('chikenFoot.bvh', 1)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = 1.
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
node = mcfg.getNode('root')
node.geom = 'MyFoot3'
node.length = .1
# node.width = .05
node.mass = 5.
node = mcfg.getNode('foot00')
node.geom = 'MyFoot3'
node.mass = .5
node = mcfg.getNode('foot10')
node.geom = 'MyFoot3'
node.mass = .5
node = mcfg.getNode('foot01')
node.geom = 'MyFoot4'
node.mass = .5
node = mcfg.getNode('foot11')
node.geom = 'MyFoot4'
node.mass = .5
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 120
wcfg.timeStep = (1/30.)/stepsPerFrame
# parameter
config = dict([])
config['Kt'] = 20; config['Dt'] = 2*(config['Kt']**.5) # tracking gain
config['Kl'] = 1; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain
config['Kh'] = 1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain
config['Ks'] = 5000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1.
config['Bh'] = 1.
# etc
config['weightMap'] = {'root': 2., 'foot00': 1., 'foot10': 1., 'foot01': .2, 'foot11': .2}
config['weightMapTuple'] = (2., 1., .2, 1., .2)
# config['supLink'] = 'link0'
return motion, mcfg, wcfg, stepsPerFrame, config
def test_joint_force_funcs():
bvhFilePath = '../samples/block_tree_rotate.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
wcfg.gravity = (0,0,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.fixBody(0)
joint_p = []
joint_t = []
viewer = ysv.SimpleViewer()
viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('joint_p', yr.PointsRenderer(joint_p, (0,255,0)))
viewer.doc.addRenderer('joint_t', yr.VectorsRenderer(joint_t, joint_p, (0,255,0)))
def simulateCallback(frame):
controlModel.setJointTorqueLocal(1, (0,0,1))
joint_p[:] = controlModel.getInternalJointPositionsGlobal()
joint_t[:] = controlModel.getInternalJointTorquesLocal()
for i in range(stepsPerFrame):
vpWorld.step()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_OdeMotionModel():
bvhFilePath = '../samples/block_3_rotate.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
node = mcfg.getNode('body1')
node.mass = 1.
node = mcfg.getNode('body2')
node.mass = 1.
node.boneRatio = .5
node.offset = (0, 0, .1)
node = mcfg.getNode('body3')
node.mass = 1.
node.length = .1
wcfg = ypc.WorldConfig()
wcfg.planeHeight = None
odeWorld = yow.OdeWorld(wcfg, mcfg)
motionModel = OdeMotionModel(odeWorld.world, odeWorld.space, motion[0],
mcfg)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'motion',
yr.JointMotionRenderer(motion, (0, 0, 255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'model',
yr.OdeModelRenderer(motionModel, (255, 255, 255), yr.POLYGON_LINE))
def preFrameCallback(frame):
motionModel.update(motion[frame])
viewer.setPreFrameCallback(preFrameCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_inertia_matrix():
bvhFilePath = '../samples/chain_1.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 100.
mcfg.defaultBoneRatio = 1.
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
wcfg.gravity = (0,0,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
controlModel2 = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel2.translateByOffset((0,0,1))
controlModel2.rotate(mm.exp(mm.v3(0,1,0), math.pi/2))
print 'model local'
print controlModel.getBodyInertiasLocal()
print
print 'model global'
print controlModel.getBodyInertiasGlobal()
print
print 'model2 global'
print controlModel2.getBodyInertiasGlobal()
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
# viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('model2', cvr.VpModelRenderer(controlModel2, (255,240,255), yr.POLYGON_LINE))
viewer.setMaxFrame(100)
viewer.show()
Fl.run()
def test_stack():
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
boxNum = 10
bodies = [None]*boxNum
for i in range(boxNum):
bodies[i] = cvb.VpBody(vpWorld)
bodies[i].addBoxGeom((1,1,1), 1)
bodies[i].setPosition((10,i,11))
bodies[i].setOrientation(mm.rotY(10*mm.RAD*random.random()))
# bodies[i].setFrame(mm.Rp2T( mm.rotY(10*mm.RAD*random.random()), (10,i,11)))
bodies2 = [None]*(boxNum*boxNum)
count = 0
for i in range(boxNum):
for j in range(boxNum):
bodies2[count] = cvb.VpBody(vpWorld)
bodies2[count].addBoxGeom((1,1,1), 1)
bodies2[count].setPosition((.1*random.random(),i,j))
# bodies2[count].setOrientation(mm.rotY(10*mm.RAD*random.random()))
count += 1
vpWorld.initialize()
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer('box', yr.VpBodiesRenderer(bodies, (255,0,0)))
viewer.doc.addRenderer('box2', yr.VpBodiesRenderer(bodies2, (0,0,255)))
viewer.setMaxFrame(100)
def simulateCallback(frame):
for i in range(stepsPerFrame):
vpWorld.step()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer((1/30.)*.4)
viewer.show()
Fl.run()
def create_vchain_5():
# motion
motion = yf.readBvhFile('vchain_5_rotate_root0.bvh', 1)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
node = mcfg.getNode('link0')
node.width = .3
node.mass = 6.
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 60
wcfg.timeStep = (1 / 30.) / stepsPerFrame
# parameter
config = {}
config['Kt'] = 20
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = 1
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 5000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1.
config['Bh'] = 1.
# etc
config['weightMap'] = {}
config['supLink'] = 'link0'
return motion, mcfg, wcfg, stepsPerFrame, config
def test_VpControlModel():
bvhFilePath = '../samples/block_3_rotate.bvh'
# bvhFilePath = '../samples/block_tree_rotate.bvh'
motion = yf.readBvhFile(bvhFilePath)
motion = motion[30:]
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
node = mcfg.getNode('body2')
node.length = 1
node.offset = (0,0,.2)
# mcfg.delNode('body2')
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
viewer = ysv.SimpleViewer()
# viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_FILL))
def simulateCallback(frame):
for i in range(stepsPerFrame):
vpWorld.step()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_default_contact():
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
body = cvb.VpBody(vpWorld)
body.addBoxGeom((1,1,1), 1)
vpWorld.initialize()
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer('box', yr.VpBodyRenderer(body, (255,0,0)))
viewer.setMaxFrame(100)
def simulateCallback(frame):
for i in range(stepsPerFrame):
vpWorld.step()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer((1/30.)*.4)
viewer.show()
Fl.run()
def create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
motionName = 'wd2_stand.bvh'
elif MOTION == STAND2:
motionName = 'ww13_41_V001.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == TAEKWONDO2:
motionName = './MotionFile/wd2_098_V002.bvh'
#motionName = 'ww13_41_V001.bvh'
motion = yf.readBvhFile(motionName, .01)
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
if FOOT_PART_NUM == 1 or FOOT_PART_NUM == 5 or FOOT_PART_NUM == 7:
yme.removeJoint(motion, RIGHT_TOES, False)
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1, 0, 0), .01), False)
#yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(2.5,-0.0,.3), -.5), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(2.5,0.0,-.3), -.5), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(2.5, -0.0, .3), -.5),
False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(2.5,0.0,-.3), -.5), False)
if MOTION == FORWARD_JUMP:
yme.rotateJointLocal(motion, LEFT_UP_LEG,
mm.exp(mm.v3(0.0, .0, 1.), .08), False)
yme.rotateJointLocal(motion, LEFT_LEG, mm.exp(mm.v3(0.0, 1.0, 0.),
-.2), False)
if FOOT_PART_NUM > 1 and FOOT_PART_NUM < 5:
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TARSUS)
yme.addJoint(motion, RIGHT_TARSUS, 'RIGHT_Dummy1')
yme.addJoint(motion, LEFT_FOOT, LEFT_TARSUS)
yme.addJoint(motion, LEFT_TARSUS, 'LEFT_Dummy1')
yme.rotateJointLocal(motion, LEFT_TOES, mm.exp(mm.v3(1., 0.0, 0.0),
.45), False)
yme.rotateJointLocal(motion, RIGHT_TOES,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_TARSUS,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
yme.rotateJointLocal(motion, RIGHT_TARSUS,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
if FOOT_PART_NUM == 4:
yme.addJoint(motion, LEFT_FOOT, LEFT_TOES_SIDE_R)
yme.addJoint(motion, LEFT_TOES_SIDE_R, 'LEFT_Dummy2')
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TOES_SIDE_R)
yme.addJoint(motion, RIGHT_TOES_SIDE_R, 'RIGHT_Dummy2')
yme.rotateJointLocal(motion, LEFT_TOES_SIDE_R,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_TOES_SIDE_R,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
elif FOOT_PART_NUM == 5:
sibIndex = motion[0].skeleton.getElementIndex(RIGHT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS, (0.0, 0., -.1))
yme.addJoint(motion, RIGHT_CALCANEUS, 'RIGHT_Dummy3')
yme.addJoint(motion, RIGHT_FOOT, RIGHT_METATARSAL_3, (-0.1, 0., 0.0))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_PHALANGE_1, (0.1, 0., .2))
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_Dummy4', (0., 0., .1))
yme.addJoint(motion, RIGHT_METATARSAL_3, RIGHT_PHALANGE_3)
#yme.addJoint(motion, RIGHT_PHALANGE_3, 'RIGHT_Dummy6')
sibIndex = motion[0].skeleton.getElementIndex(LEFT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS)
yme.addJoint(motion, LEFT_CALCANEUS, 'LEFT_Dummy3')
yme.addJoint(motion, LEFT_FOOT, LEFT_METATARSAL_3)
yme.addJoint(motion, LEFT_FOOT, LEFT_PHALANGE_1)
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_Dummy4')
yme.addJoint(motion, LEFT_METATARSAL_3, LEFT_PHALANGE_3)
yme.addJoint(motion, LEFT_PHALANGE_3, 'LEFT_Dummy6')
'''
yme.addJoint(motion, RIGHT_LEG, RIGHT_CALCANEUS, (0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_CALCANEUS, 'RIGHT_Dummy3')
yme.addJoint(motion, RIGHT_LEG, RIGHT_METATARSAL_3, (0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_PHALANGE_1)
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_Dummy4')
yme.addJoint(motion, RIGHT_METATARSAL_3, RIGHT_PHALANGE_3)
yme.addJoint(motion, RIGHT_PHALANGE_3, 'RIGHT_Dummy6')
sibIndex = motion[0].skeleton.getElementIndex(LEFT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
yme.addJoint(motion, LEFT_LEG, LEFT_CALCANEUS, (-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_CALCANEUS, 'LEFT_Dummy3')
yme.addJoint(motion, LEFT_LEG, LEFT_METATARSAL_3, (-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_FOOT, LEFT_PHALANGE_1)
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_Dummy4')
yme.addJoint(motion, LEFT_METATARSAL_3, LEFT_PHALANGE_3)
yme.addJoint(motion, LEFT_PHALANGE_3, 'LEFT_Dummy6')
'''
'''
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_3, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_PHALANGE_1, mm.exp(mm.v3(1.,0.0,0.0), .0), False)
yme.rotateJointLocal(motion, LEFT_PHALANGE_1, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS, mm.exp(mm.v3(1.,0.0,0.0), .45), False)
'''
elif FOOT_PART_NUM == 7:
sibIndex = motion[0].skeleton.getElementIndex(RIGHT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
print(newOffset)
yme.addJoint(motion, RIGHT_LEG, RIGHT_CALCANEUS,
(0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_CALCANEUS, 'RIGHT_Dummy3')
yme.addJoint(motion, RIGHT_LEG, RIGHT_METATARSAL_2,
(0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_LEG, RIGHT_METATARSAL_3,
(0.0025, -0.4209, -0.0146))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_PHALANGE_1)
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_Dummy4')
yme.addJoint(motion, RIGHT_METATARSAL_2, RIGHT_PHALANGE_2)
yme.addJoint(motion, RIGHT_PHALANGE_2, 'RIGHT_Dummy5')
yme.addJoint(motion, RIGHT_METATARSAL_3, RIGHT_PHALANGE_3)
yme.addJoint(motion, RIGHT_PHALANGE_3, 'RIGHT_Dummy6')
sibIndex = motion[0].skeleton.getElementIndex(LEFT_FOOT)
skeleton = motion[0].skeleton
sibJoint = skeleton.getElement(sibIndex)
newOffset = sibJoint.offset.copy()
yme.addJoint(motion, LEFT_LEG, LEFT_CALCANEUS,
(-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_CALCANEUS, 'LEFT_Dummy3')
yme.addJoint(motion, LEFT_LEG, LEFT_METATARSAL_2,
(-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_LEG, LEFT_METATARSAL_3,
(-0.0025, -0.4209, -0.0146))
yme.addJoint(motion, LEFT_FOOT, LEFT_PHALANGE_1)
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_Dummy4')
yme.addJoint(motion, LEFT_METATARSAL_2, LEFT_PHALANGE_2)
yme.addJoint(motion, LEFT_PHALANGE_2, 'LEFT_Dummy5')
yme.addJoint(motion, LEFT_METATARSAL_3, LEFT_PHALANGE_3)
yme.addJoint(motion, LEFT_PHALANGE_3, 'LEFT_Dummy6')
#yme.offsetJointLocal(motion, RIGHT_CALCANEUS, (0.0,-1.55,0), False)
#yme.offsetJointLocal(motion, RIGHT_METATARSAL_2, (.0,-1.55,0), False)
#yme.offsetJointLocal(motion, RIGHT_METATARSAL_3, (.0,-1.55,0), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_2,
mm.exp(mm.v3(-1., 0.0, 0.0), .3), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_2,
mm.exp(mm.v3(-1., 0.0, 0.0), .3), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3,
mm.exp(mm.v3(-1., 0.0, 0.0), .3), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_3,
mm.exp(mm.v3(-1., 0.0, 0.0), .3), False)
yme.rotateJointLocal(motion, RIGHT_PHALANGE_1,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_PHALANGE_1,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS,
mm.exp(mm.v3(-1., 0.0, 0.0), .20), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS,
mm.exp(mm.v3(-1., 0.0, 0.0), .20), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
elif MOTION == TAEKWONDO2:
## Taekwondo base-step
motion = motion[0:31 + 40]
## Taekwondo turning-kick
#motion = motion[108:-1]
#motion = motion[108:109]
motion[0:0] = [motion[0]] * 100
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
#node.length = .2 ####
if FOOT_PART_NUM == 1:
length1 = .25
width1 = .2
mass1 = 4.
elif FOOT_PART_NUM == 3:
length1 = .1
width1 = .2
mass1 = 1.5
length2 = .1
width2 = .2
mass2 = 1.5
elif FOOT_PART_NUM == 4:
length1 = .1
width1 = .2
mass1 = 1.5
length2 = .1
width2 = .095
mass2 = .75
elif FOOT_PART_NUM == 5:
mass0 = .4
width0 = 0.028
#Metatarsal1
length1 = .18
width1 = width0 * 3
mass1 = mass0 * 2.8
#Metatarsal3
length3 = .17
width3 = width0 * 3
mass3 = mass0 * 2.7
#Calcaneus
length4 = .08
width4 = 0.15
mass4 = mass0 * 2.3
#Phalange1
length5 = .06
width5 = width1
mass5 = mass0 * 0.9
#Phalange3
length7 = .05
width7 = width3
mass7 = mass0 * 0.7
elif FOOT_PART_NUM == 7:
mass0 = .4
width0 = 0.028
#Metatarsal1
length1 = .2
width1 = width0 * 2
mass1 = mass0 * 2
#Metatarsal2
length2 = .2
width2 = width0
mass2 = mass0
#Metatarsal3
length3 = .19
width3 = width0 * 3
mass3 = mass0 * 2.8
#Calcaneus
length4 = .08
width4 = 0.15
mass4 = mass0 * 2
#Phalange1
length5 = .06
width5 = width1
mass5 = mass0 / 2.
#Phalange2
length6 = .06
width6 = width2
mass6 = mass0 / 4.
#Phalange3
length7 = .05
width7 = width3
mass7 = mass6 * 2.8
if FOOT_PART_NUM == 7:
node = mcfg.getNode(RIGHT_FOOT)
node.offset = (0.055, -0.03, 0.04)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(RIGHT_METATARSAL_2)
node.offset = (0.01, -0.03, 0.065)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(RIGHT_METATARSAL_3)
node.offset = (-.05, -0.03, 0.055)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_CALCANEUS)
node.offset = (.0, -0.03, -0.07)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(RIGHT_PHALANGE_1)
node.offset = (0.055, -0.03, 0.19)
node.length = length5
node.width = width5
node.mass = mass5
node = mcfg.getNode(RIGHT_PHALANGE_2)
node.offset = (0.01, -0.03, 0.19)
node.length = length6
node.width = width6
node.mass = mass6
node = mcfg.getNode(RIGHT_PHALANGE_3)
node.offset = (-.05, -0.03, 0.18)
node.length = length7
node.width = width7
node.mass = mass7
node = mcfg.getNode(LEFT_FOOT)
node.offset = (-0.055, -0.03, 0.04)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_METATARSAL_2)
node.offset = (-0.01, -0.03, 0.065)
node.length = length2
node.width = width2
node.mass = mass2
node = mcfg.getNode(LEFT_METATARSAL_3)
node.offset = (.05, -0.03, 0.055)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_CALCANEUS)
node.offset = (.0, -0.03, -0.07)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_PHALANGE_1)
node.offset = (-0.055, -0.03, 0.19)
node.length = length5
node.width = width5
node.mass = mass5
node = mcfg.getNode(LEFT_PHALANGE_2)
node.offset = (-0.01, -0.03, 0.19)
node.length = length6
node.width = width6
node.mass = mass6
node = mcfg.getNode(LEFT_PHALANGE_3)
node.offset = (.05, -0.03, 0.18)
node.length = length7
node.width = width7
node.mass = mass7
elif FOOT_PART_NUM == 5:
'''
node = mcfg.getNode(RIGHT_FOOT)
node.offset = (0.05,-0.03,0.06)
node.length = length1
node.width = width1
node.mass = mass1
'''
node = mcfg.getNode(RIGHT_METATARSAL_3)
node.offset = (-.04, -0.03, 0.075)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_CALCANEUS)
node.offset = (.0, -0.03, -0.05)
node.length = length4
node.width = width4
node.mass = mass4
#node = mcfg.getNode(RIGHT_PHALANGE_1)
#node.offset = (0.05,-0.03,0.19)
#node.length = length5
#node.width = width5
#node.mass = mass5
node = mcfg.getNode(RIGHT_PHALANGE_3)
node.offset = (-.04, -0.03, 0.18)
node.length = length7
node.width = width7
node.mass = mass7
node = mcfg.getNode(LEFT_FOOT)
node.offset = (-0.05, -0.03, 0.06)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_METATARSAL_3)
node.offset = (.04, -0.03, 0.075)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_CALCANEUS)
node.offset = (.0, -0.03, -0.05)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_PHALANGE_1)
node.offset = (-0.05, -0.03, 0.19)
node.length = length5
node.width = width5
node.mass = mass5
node = mcfg.getNode(LEFT_PHALANGE_3)
node.offset = (.04, -0.03, 0.18)
node.length = length7
node.width = width7
node.mass = mass7
elif FOOT_PART_NUM == 4:
node = mcfg.getNode(LEFT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (-0.05, 0.0, -0.03)
node = mcfg.getNode(LEFT_TOES_SIDE_R)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0.08, 0.0, 0.1)
node = mcfg.getNode(RIGHT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0.05, 0.0, -0.03)
node = mcfg.getNode(RIGHT_TOES_SIDE_R)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (-0.05, 0.0, 0.12)
elif FOOT_PART_NUM == 3:
node = mcfg.getNode(LEFT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(RIGHT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.02)
'''
elif FOOT_PART_NUM == 5:
node = mcfg.getNode(LEFT_FOOT_SIDE_L)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0.07,0.0,0.015)
node = mcfg.getNode(LEFT_FOOT_SIDE_R)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (-0.07,0.0,0.015)
node = mcfg.getNode(RIGHT_FOOT_SIDE_L)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0.07,0.0,0.015)
node = mcfg.getNode(RIGHT_FOOT_SIDE_R)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (-0.07,0.0,0.015)
'''
if FOOT_PART_NUM > 1 and FOOT_PART_NUM < 5:
node = mcfg.getNode(LEFT_TARSUS)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0, 0.0, -0.08)
node = mcfg.getNode(RIGHT_TARSUS)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0, 0.0, -0.08)
if FOOT_PART_NUM < 5:
node = mcfg.getNode(RIGHT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
if FOOT_PART_NUM == 1:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 1.,
LEFT_FOOT: 1.,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.
}
elif FOOT_PART_NUM == 3:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_TOES: .3,
RIGHT_TOES: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_TOES: .3,
RIGHT_TOES: .3
}
elif FOOT_PART_NUM == 4:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_TOES: .3,
RIGHT_TOES: .3,
LEFT_TOES_SIDE_R: .3,
RIGHT_TOES_SIDE_R: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_TOES: .3,
RIGHT_TOES: .3,
LEFT_TOES_SIDE_R: .3,
RIGHT_TOES_SIDE_R: .3
}
elif FOOT_PART_NUM == 5:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_METATARSAL_3: .2,
RIGHT_METATARSAL_3: .2,
LEFT_PHALANGE_1: .2,
LEFT_PHALANGE_3: .1,
RIGHT_PHALANGE_1: .2,
RIGHT_PHALANGE_3: .2
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_METATARSAL_3: .3,
RIGHT_METATARSAL_3: .3,
LEFT_PHALANGE_1: .3,
LEFT_PHALANGE_3: .3,
RIGHT_PHALANGE_1: .3,
RIGHT_PHALANGE_3: .3
}
elif FOOT_PART_NUM == 7:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_METATARSAL_2: .2,
LEFT_METATARSAL_3: .2,
RIGHT_METATARSAL_2: .2,
RIGHT_METATARSAL_3: .2,
LEFT_PHALANGE_1: .2,
LEFT_PHALANGE_2: .2,
LEFT_PHALANGE_3: .3,
RIGHT_PHALANGE_1: .2,
RIGHT_PHALANGE_2: .2,
RIGHT_PHALANGE_3: .2
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.,
LEFT_FOOT: 2.,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_METATARSAL_2: .3,
LEFT_METATARSAL_3: .3,
RIGHT_METATARSAL_2: .3,
RIGHT_METATARSAL_3: .3,
LEFT_PHALANGE_1: .3,
LEFT_PHALANGE_2: .3,
LEFT_PHALANGE_3: .3,
RIGHT_PHALANGE_1: .3,
RIGHT_PHALANGE_2: .3,
RIGHT_PHALANGE_3: .3
}
'''
elif FOOT_PART_NUM == 5:
config['weightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:.3, SPINE1:.3, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.5,
RIGHT_UP_LEG:.1, RIGHT_LEG:.3, LEFT_UP_LEG:.1, LEFT_LEG:.3, LEFT_TOES:.3, RIGHT_TOES:.3, LEFT_TARSUS:.3, RIGHT_TARSUS:.3,
LEFT_FOOT_SIDE_L:.3, LEFT_FOOT_SIDE_R:.3, RIGHT_FOOT_SIDE_L:.3, RIGHT_FOOT_SIDE_R:.3}
config['weightMap2']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:1., SPINE1:.3, RIGHT_FOOT:2.5, LEFT_FOOT:2.5, HIP:1.,
RIGHT_UP_LEG:1., RIGHT_LEG:1., LEFT_UP_LEG:1., LEFT_LEG:1., LEFT_TOES:.3, RIGHT_TOES:.3, LEFT_TARSUS:.3, RIGHT_TARSUS:.3,
LEFT_FOOT_SIDE_L:.3, LEFT_FOOT_SIDE_R:.3, RIGHT_FOOT_SIDE_L:.3, RIGHT_FOOT_SIDE_R:.3}
'''
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
#config['end'] = 'HIP'
config['end'] = SPINE1
config['const'] = HIP
config['root'] = HIP
config['FootPartNum'] = FOOT_PART_NUM
if FOOT_PART_NUM == 7:
config['FootLPart'] = [
LEFT_FOOT, LEFT_METATARSAL_2, LEFT_METATARSAL_3, LEFT_PHALANGE_1,
LEFT_PHALANGE_2, LEFT_PHALANGE_3, LEFT_CALCANEUS
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_METATARSAL_2, RIGHT_METATARSAL_3,
RIGHT_PHALANGE_1, RIGHT_PHALANGE_2, RIGHT_PHALANGE_3,
RIGHT_CALCANEUS
]
elif FOOT_PART_NUM == 5:
config['FootLPart'] = [
LEFT_FOOT, LEFT_METATARSAL_3, LEFT_PHALANGE_1, LEFT_PHALANGE_3,
LEFT_CALCANEUS
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_METATARSAL_3, RIGHT_PHALANGE_1, RIGHT_PHALANGE_3,
RIGHT_CALCANEUS
]
else:
config['FootLPart'] = [
LEFT_FOOT, LEFT_TOES, LEFT_TARSUS, LEFT_TOES_SIDE_R,
LEFT_FOOT_SIDE_L, LEFT_FOOT_SIDE_R
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_TOES, RIGHT_TARSUS, RIGHT_TOES_SIDE_R,
RIGHT_FOOT_SIDE_L, RIGHT_FOOT_SIDE_R
]
return motion, mcfg, wcfg, stepsPerFrame, config
def test_CM_CP():
# bvhFilePath = '../samples/chain_6.bvh'
# bvhFilePath = '../samples/block_3_rotate.bvh'
# bvhFilePath = '../samples/block_tree_rotate.bvh'
bvhFilePath = '../samples/chain_2.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 100.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
node = mcfg.getNode('link0')
node.density = 200.
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
# wcfg.gravity = (0,0,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
motionModel.recordVelByFiniteDiff()
controlModel.translateByOffset((0,.5,.5))
CMPos_cm = [mm.O_Vec3()]
CMVel_cm = [mm.O_Vec3()]
CMPos_mm = [mm.O_Vec3()]
CPPos_cm = [mm.O_Vec3()]
CPVel_cm = [mm.O_Vec3()]
bodyMasses = controlModel.getBodyMasses()
totalMass = 0.
for m in bodyMasses:
totalMass += m
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [.5]*len(bodyIDsToCheck)
contactPositions= []
contactForces = []
viewer = ysv.SimpleViewer()
viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
# viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(motionModel, (100,100,100), yr.POLYGON_LINE))
viewer.doc.addRenderer('CMPos_cm', yr.PointsRenderer(CMPos_cm, (255,0,255)))
viewer.doc.addRenderer('CMVel_cm', yr.VectorsRenderer(CMVel_cm, CMPos_cm, (255,0,255)))
viewer.doc.addRenderer('CMPos_mm', yr.PointsRenderer(CMPos_mm, (200,0,200)))
viewer.doc.addRenderer('CPPos_cm', yr.PointsRenderer(CPPos_cm, (0,255,0)))
viewer.doc.addRenderer('CPVel_cm', yr.VectorsRenderer(CPVel_cm, CPPos_cm, (0,255,0)))
viewer.doc.addRenderer('contactPositions', yr.PointsRenderer(contactPositions, (0,0,255), yr.POINT_POINT))
viewer.doc.addRenderer('contactForces', yr.VectorsRenderer(contactForces, contactPositions,(0,0,255)))
def simulateCallback(frame):
controlModel.applyBodyTorqueGlobal(1, (0,10,0))
for i in range(stepsPerFrame):
bodyIDs, positions, positionLocals, forces = vpWorld.calcPenaltyForce(bodyIDsToCheck, mus, 1000, 2*(1000**.5))
vpWorld.applyPenaltyForce(bodyIDs, positionLocals, forces)
vpWorld.step()
del contactPositions[:]
del contactForces[:]
contactPositions[:] = positions
contactForces[:] = forces
motionModel.update(motion[frame])
bodyPositions = controlModel.getBodyPositionsGlobal()
bodyVelocities = controlModel.getBodyVelocitiesGlobal()
CMPos_cm[0] = yrp.getCM(bodyPositions, bodyMasses, totalMass)
CMVel_cm[0] = yrp.getCM(bodyVelocities, bodyMasses, totalMass)
bodyPositions_ref = motionModel.getBodyPositionsGlobal()
bodyVelocities_ref = motionModel.getBodyVelocitiesGlobal()
CMPos_mm[0] = yrp.getCM(bodyPositions_ref, bodyMasses, totalMass)
CPPos_cm_old = CPPos_cm[0]
CPPos_cm[0] = yrp.getCP(positions, forces)
if CPPos_cm_old==None or CPPos_cm[0]==None:
CPVel_cm[0] = None
else:
CPVel_cm[0] = (CPPos_cm[0] - CPPos_cm_old)/(1./30.)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_penalty_model():
bvhFilePath = '../samples/chain_1.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 100.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
wcfg.gravity = (0,-9.8,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
controlModel2 = cvm.VpControlModel(vpWorld, motion[0], mcfg)
controlModel3 = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.translateByOffset((0,1,0))
controlModel2.translateByOffset((0,1,.5))
controlModel3.translateByOffset((0,1,1.))
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [1., .2, .1]
Ks = 1000; Ds = 2*(Ks**.5)
contactPositions= []
contactForces = []
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('model2', cvr.VpModelRenderer(controlModel2, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('model3', cvr.VpModelRenderer(controlModel3, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('contactPositions', yr.PointsRenderer(contactPositions, (0,255,0), yr.POINT_POINT))
viewer.doc.addRenderer('contactForces', yr.VectorsRenderer(contactForces, contactPositions,(0,255,0)))
viewer.setMaxFrame(500)
def simulateCallback(frame):
for i in range(stepsPerFrame):
controlModel.applyBodyForceGlobal(0, (1,0,0))
controlModel2.applyBodyForceGlobal(0, (1,0,0))
controlModel3.applyBodyForceGlobal(0, (1,0,0))
# get penalty forces
bodyIDs, positions, positionLocals, forces = vpWorld.calcPenaltyForce(bodyIDsToCheck, mus, 1000, 10)
# apply penalty forces
vpWorld.applyPenaltyForce(bodyIDs, positionLocals, forces)
vpWorld.step()
contactPositions[:] = positions
contactForces[:] = forces
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
motionName = 'wd2_stand.bvh'
elif MOTION == STAND2:
motionName = 'ww13_41_V001.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == TAEKWONDO2:
motionName = './MotionFile/wd2_098_V001.bvh'
elif MOTION == KICK:
motionName = 'wd2_n_kick.bvh'
elif MOTION == WALK:
motionName = 'wd2_WalkForwardNormal00.bvh'
elif MOTION == TIPTOE:
motionName = './MotionFile/cmu/15_07_15_07.bvh'
#motionName = 'ww13_41_V001.bvh'
scale = 0.01
if MOTION == WALK:
scale = 1.0
elif MOTION == TIPTOE:
scale = 0.01
motion = yf.readBvhFile(motionName, scale)
if MOTION != WALK:
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
if FOOT_PART_NUM == 1 and MOTION != WALK:
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
elif (FOOT_PART_NUM == 5 or FOOT_PART_NUM == 6) and MOTION != WALK:
yme.removeJoint(motion, RIGHT_TOES, False)
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
if MOTION != WALK:
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1, 0, 0), .01), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(0, 0, 1), -.01), False)
if FOOT_PART_NUM == 1:
yme.rotateJointLocal(motion, LEFT_FOOT,
mm.exp(mm.v3(2.5, -0.0, .3), -.5), False)
yme.rotateJointLocal(motion, RIGHT_FOOT,
mm.exp(mm.v3(2.5, 0.0, -.3), -.5), False)
if MOTION == WALK:
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1., -0.0, .0),
.4), False)
yme.rotateJointLocal(motion, RIGHT_FOOT,
mm.exp(mm.v3(1., 0.0, -.0), .4), False)
#yme.rotateJointLocal(motion, SPINE1, mm.exp(mm.v3(1.,0.0,0.0), -.8), False)
if MOTION == FORWARD_JUMP:
yme.rotateJointLocal(motion, LEFT_UP_LEG,
mm.exp(mm.v3(0.0, .0, 1.), .08), False)
yme.rotateJointLocal(motion, LEFT_LEG, mm.exp(mm.v3(0.0, 1.0, 0.),
-.2), False)
if FOOT_PART_NUM == 6:
yme.addJoint(motion, LEFT_FOOT, LEFT_METATARSAL_1,
(-0.045, -0.06, 0.03))
yme.addJoint(motion, LEFT_FOOT, LEFT_METATARSAL_3,
(0.045, -0.06, 0.03)) #-0.0037
yme.addJoint(motion, LEFT_METATARSAL_1, LEFT_PHALANGE_1,
(0.0, 0.0, 0.0715))
yme.addJoint(motion, LEFT_METATARSAL_3, LEFT_PHALANGE_3,
(0.0, 0.0, 0.0715))
yme.addJoint(motion, LEFT_PHALANGE_1, 'LEFT_PHALANGE_Dummy1',
(0.0, 0.0, 0.1))
yme.addJoint(motion, LEFT_PHALANGE_3, 'LEFT_PHALANGE_Dummy2',
(0.0, 0.0, 0.1))
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCANEUS_1, (0.0, -0.06, -0.02))
yme.addJoint(motion, LEFT_CALCANEUS_1, 'LEFT_CALCANEUS_Dummy1',
(0.0, 0.0, -0.1))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_METATARSAL_1,
(0.045, -0.06, 0.03))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_METATARSAL_3,
(-0.045, -0.06 - 0.0062, 0.03 + 0.0035))
yme.addJoint(motion, RIGHT_METATARSAL_1, RIGHT_PHALANGE_1,
(0.0, 0.0, 0.0715))
yme.addJoint(motion, RIGHT_METATARSAL_3, RIGHT_PHALANGE_3,
(0.0, 0.0, 0.0715))
yme.addJoint(motion, RIGHT_PHALANGE_1, 'RIGHT_PHALANGE_Dummy1',
(0.0, 0.0, 0.1))
yme.addJoint(motion, RIGHT_PHALANGE_3, 'RIGHT_PHALANGE_Dummy2',
(0.0, 0.0, 0.1))
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCANEUS_1,
(0.0, -0.06, -0.02))
yme.addJoint(motion, RIGHT_CALCANEUS_1, 'RIGHT_CALCANEUS_Dummy1',
(0.0, 0.0, -0.1))
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1,
mm.exp(mm.v3(.0, 0.0, 1.0), 3.14), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_1,
mm.exp(mm.v3(.0, 0.0, 1.0), 3.14), False)
'''
yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), 3.14*0.3), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), 3.14*0.3), False)
yme.rotateJointLocal(motion, RIGHT_PHALANGE_1, mm.exp(mm.v3(1.0,0.0,0.0), -3.14*0.3), False)
yme.rotateJointLocal(motion, RIGHT_PHALANGE_3, mm.exp(mm.v3(1.0,0.0, 0.0), -3.14*0.3), False)
yme.rotateJointLocal(motion, LEFT_PHALANGE_1, mm.exp(mm.v3(1.0,0.0,0.0), -3.14*0.3), False)
yme.rotateJointLocal(motion, LEFT_PHALANGE_3, mm.exp(mm.v3(1.0,0.0, 0.0), -3.14*0.3), False)
'''
yme.rotateJointLocal(motion, LEFT_FOOT,
mm.exp(mm.v3(1.0, 0.0, 0.0), 0.2012), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), -0.2172), False)
yme.rotateJointLocal(motion, LEFT_METATARSAL_3,
mm.exp(mm.v3(1.0, 0.0, 0.0), -0.2172), False)
yme.rotateJointLocal(motion, LEFT_CALCANEUS_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), 0.2172), False)
yme.rotateJointLocal(motion, RIGHT_FOOT,
mm.exp(mm.v3(1.0, 0.0, 0.0), 0.2283), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), -0.2171), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3,
mm.exp(mm.v3(1.0, 0.0, 0.0), -0.2171), False)
yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1,
mm.exp(mm.v3(1.0, 0.0, 0.0), 0.2171), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_1,
mm.exp(mm.v3(0.0, 0.0, 1.0), 0.0747), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3,
mm.exp(mm.v3(0.0, 0.0, 1.0), 0.0747), False)
'''
yme.rotateJointLocal(motion, RIGHT_METATARSAL_1, mm.exp(mm.v3(1.0,0.0,0.0), -0.1), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3, mm.exp(mm.v3(1.0,0.0,0.0), -0.1), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_1, mm.exp(mm.v3(0.0,0.0,1.0), 0.06), False)
yme.rotateJointLocal(motion, RIGHT_METATARSAL_3, mm.exp(mm.v3(0.0,0.0,1.0), 0.06), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), -0.05), False)
'''
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(0.0,0.0,1.0), 0.0656), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), 0.0871), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(0.0,0.0,1.0), 0.0087), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), 0.0933), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(0.0,0.0,1.0), 0.0746), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0,0.0), -6.3773e-03), False)
#yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), math.pi*0.25), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), math.pi*0.25), False)
#yme.rotateJointLocal(motion, LEFT_PHALANGE_1, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.25), False)
#yme.rotateJointLocal(motion, RIGHT_PHALANGE_1, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.25), False)
#yme.rotateJointLocal(motion, LEFT_PHALANGE_3, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.25), False)
#yme.rotateJointLocal(motion, RIGHT_PHALANGE_3, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.25), False)
#yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), -math.pi*0.16), False)
#yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(1.0,0.0, 0.0), -math.pi*0.16), False)
#yme.rotateJointLocal(motion, LEFT_CALCANEUS_1, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.16), False)
#yme.rotateJointLocal(motion, RIGHT_CALCANEUS_1, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.16), False)
#yme.rotateJointLocal(motion, LEFT_METATARSAL_3, mm.exp(mm.v3(1.0,0.0,0.0), -math.pi*0.5), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
elif MOTION == TAEKWONDO2:
## Taekwondo base-step
#motion = motion[0:31+40]
## Taekwondo turning-kick
motion = motion[108:-1]
#motion = motion[108:109]
elif MOTION == KICK:
#motion = motion[141:-1]
#motion = motion[100:-1]
#motion = motion[58:-1]
motion = motion[82:-1]
#motion = motion[0:-1]
elif MOTION == STAND2:
motion = motion[1:-1]
elif MOTION == TIPTOE:
#motion = motion[183:440]
#motion = motion[350:410]
motion = motion[350:550]
motion[0:0] = [motion[0]] * 40
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
#node.length = .2 ####
if FOOT_PART_NUM == 1:
length1 = .35
width1 = .2
mass1 = 4.3
elif FOOT_PART_NUM == 6:
mass0 = .4
width0 = 0.028
length0 = 0.1
#Metatarsal1
length1 = .15
width1 = width0 * 3
mass1 = mass0 * 1.8
#Metatarsal3
length3 = .11
width3 = width0 * 3
mass3 = mass0 * 1.86
#Calcaneus1
length4 = .08
width4 = 0.15 * 1
mass4 = mass0 * 1.2 * 2.
#Phalange1
length5 = .08
width5 = width1
mass5 = mass0 * 1.355
#Phalange3
length7 = length5
width7 = width5
mass7 = mass5
#Talus
length8 = .13
width8 = width0 * 3
mass8 = mass0 * 2.
if FOOT_PART_NUM == 6:
node = mcfg.getNode(RIGHT_FOOT)
node.length = length8
node.width = width8
node.mass = mass8
node = mcfg.getNode(RIGHT_METATARSAL_1)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(RIGHT_METATARSAL_3)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(RIGHT_PHALANGE_1)
node.length = length5
node.width = width5
node.mass = mass5
node.offset = (0.0, 0.0, 0.03)
node = mcfg.getNode(RIGHT_PHALANGE_3)
node.length = length7
node.width = width7
node.mass = mass7
node.offset = (0.0, 0.0, 0.01)
node = mcfg.getNode(RIGHT_CALCANEUS_1)
node.length = length4
node.width = width4
node.mass = mass4
node = mcfg.getNode(LEFT_FOOT)
node.length = length8
node.width = width8
node.mass = mass8
node = mcfg.getNode(LEFT_METATARSAL_1)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_METATARSAL_3)
node.length = length3
node.width = width3
node.mass = mass3
node = mcfg.getNode(LEFT_PHALANGE_1)
node.length = length5
node.width = width5
node.mass = mass5
node.offset = (0.0, 0.0, 0.03)
node = mcfg.getNode(LEFT_PHALANGE_3)
node.length = length7
node.width = width7
node.mass = mass7
node.offset = (0.0, 0.0, 0.01)
node = mcfg.getNode(LEFT_CALCANEUS_1)
node.length = length4
node.width = width4
node.mass = mass4
if FOOT_PART_NUM < 5:
node = mcfg.getNode(RIGHT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
if FOOT_PART_NUM == 1:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 1.,
LEFT_FOOT: 1.,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.
}
elif FOOT_PART_NUM == 6:
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .5,
SPINE1: .3,
RIGHT_FOOT: .7,
LEFT_FOOT: .7,
HIP: .5,
RIGHT_UP_LEG: .7,
RIGHT_LEG: .7,
LEFT_UP_LEG: .7,
LEFT_LEG: .7,
LEFT_METATARSAL_1: .7,
RIGHT_METATARSAL_1: .7,
LEFT_METATARSAL_3: .7,
RIGHT_METATARSAL_3: .7,
RIGHT_CALCANEUS_1: .7,
LEFT_CALCANEUS_1: .7,
LEFT_PHALANGE_1: .4,
LEFT_PHALANGE_3: .4,
RIGHT_PHALANGE_1: .4,
RIGHT_PHALANGE_3: .4
}
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .2,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .3,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .2,
LEFT_UP_LEG: .1,
LEFT_LEG: .2,
LEFT_METATARSAL_1: .1,
RIGHT_METATARSAL_1: .1,
LEFT_METATARSAL_3: .1,
RIGHT_METATARSAL_3: .1,
RIGHT_CALCANEUS_1: .2,
LEFT_CALCANEUS_1: .2,
LEFT_PHALANGE_1: .1,
LEFT_PHALANGE_3: .1,
RIGHT_PHALANGE_1: .1,
RIGHT_PHALANGE_3: .1
}
'''
config['weightMap2']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:.3, SPINE1:.3, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.5,
RIGHT_UP_LEG:.1, RIGHT_LEG:.3, LEFT_UP_LEG:.1, LEFT_LEG:.3,
LEFT_METATARSAL_3:.2, RIGHT_METATARSAL_3:.2, RIGHT_CALCANEUS:1.2, LEFT_CALCANEUS:1.2,
LEFT_PHALANGE_1:.2, LEFT_PHALANGE_3:.1, RIGHT_PHALANGE_1:.2, RIGHT_PHALANGE_3:.2}
config['weightMap2']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2, SPINE:.8, SPINE1:.3, RIGHT_FOOT:1., LEFT_FOOT:1., HIP:1.,
RIGHT_UP_LEG:1., RIGHT_LEG:1., LEFT_UP_LEG:1., LEFT_LEG:1.,
LEFT_METATARSAL_3:1., RIGHT_METATARSAL_3:1., RIGHT_CALCANEUS:.3, LEFT_CALCANEUS:.3,
LEFT_PHALANGE_1:.3, LEFT_PHALANGE_3:.3, RIGHT_PHALANGE_1:.3, RIGHT_PHALANGE_3:.3}
'''
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
#config['end'] = HIP
config['end'] = SPINE1
config['const'] = HIP
config['root'] = HIP
config['FootPartNum'] = FOOT_PART_NUM
if FOOT_PART_NUM == 6:
config['FootLPart'] = [
LEFT_FOOT, LEFT_METATARSAL_1, LEFT_METATARSAL_3, LEFT_PHALANGE_1,
LEFT_PHALANGE_3, LEFT_CALCANEUS_1
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_METATARSAL_1, RIGHT_METATARSAL_3,
RIGHT_PHALANGE_1, RIGHT_PHALANGE_3, RIGHT_CALCANEUS_1
]
else:
config['FootLPart'] = [
LEFT_FOOT, LEFT_TOES, LEFT_TARSUS, LEFT_TOES_SIDE_R,
LEFT_FOOT_SIDE_L, LEFT_FOOT_SIDE_R
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_TOES, RIGHT_TARSUS, RIGHT_TOES_SIDE_R,
RIGHT_FOOT_SIDE_L, RIGHT_FOOT_SIDE_R
]
return motion, mcfg, wcfg, stepsPerFrame, config
yme.rotateJointLocal(motion, 'LeftFoot', motionDirConfig['footRot'], False)
yme.rotateJointLocal(motion, 'RightFoot', motionDirConfig['footRot'], False)
motion.translateByOffset(motionDirConfig['yOffset'])
yme.updateGlobalT(motion)
print(motionName)
if motionName=='wd2_left_turn.bvh':
lFoot = motion[0].skeleton.getJointIndex('LeftFoot')
yte.setPositionTarget(motion, lFoot, motion[0].getJointPositionGlobal(lFoot)+(-.1,0,-.1)\
, [0,58], 100)
#===============================================================================
# initialize character
#===============================================================================
wcfg = ypc.WorldConfig()
mcfg = get_mcfg()
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
bodyMasses = motionModel.getBodyMasses()
totalMass = motionModel.getTotalMass()
#===============================================================================
# analysis
#===============================================================================
lc = yma.getElementContactStates(motion, 'LeftFoot', hRef, vRef)
rc = yma.getElementContactStates(motion, 'RightFoot', hRef, vRef)
intervals, states = yba.getBipedGaitIntervals(lc, rc, jumpThreshold, jumpBias, stopThreshold, stopBias)
def test_biped_motion_edit():
massMap = buildMassMap()
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
yme.removeJoint(motion, 'Head', False)
yme.removeJoint(motion, 'RightShoulder', False)
yme.removeJoint(motion, 'LeftShoulder1', False)
yme.removeJoint(motion, 'RightToes_Effector', False)
yme.removeJoint(motion, 'LeftToes_Effector', False)
yme.removeJoint(motion, 'RightHand_Effector', False)
yme.removeJoint(motion, 'LeftHand_Effector', False)
yme.offsetJointLocal(motion, 'RightArm', (.03,-.05,0), False)
yme.offsetJointLocal(motion, 'LeftArm', (-.03,-.05,0), False)
yme.updateGlobalT(motion)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode('Hips')
node.length = .2
node.width = .25
# node = mcfg.getNode('Head')
# node.length = .2
node = mcfg.getNode('Spine1')
node.length = .2
node.offset = (0,0,0.1)
node = mcfg.getNode('Spine')
node.width = .22
node = mcfg.getNode('RightFoot')
node.length = .25
node = mcfg.getNode('LeftFoot')
node.length = .25
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
print motion[0].skeleton
print
print controlModel
viewer = ysv.SimpleViewer()
# viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,255,255), yr.LINK_LINE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), cvr.POLYGON_FILL))
viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(motionModel, (255,240,255), cvr.POLYGON_LINE))
def preFrameCallback(frame):
motionModel.update(motion[frame])
viewer.setPreFrameCallback(preFrameCallback)
def simulateCallback(frame):
for i in range(stepsPerFrame):
vpWorld.step()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_slope_character():
bvhFilePath = '../samples/wd2_WalkSameSame01.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfgfile = open('../samples/' + 'mcfg', 'r')
mcfg = cPickle.load(mcfgfile)
mcfgfile.close()
frameTime = 1/30.
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (frameTime)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [1.]*len(bodyIDsToCheck)
Kt = 20.; Dt = 2*(Kt**.5)
Ks = 2000; Ds = 2*(Ks**.5)
rd_box = yr.BoxesRenderer([(5., .2, 3.)], [mm.Rp2T(mm.rotZ(0.1), (0,-.5,0))], (0,0,255), yr.POLYGON_LINE)
contactPositions= []
contactForces = []
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('contactPositions', yr.PointsRenderer(contactPositions, (0,255,0), yr.POINT_POINT))
viewer.doc.addRenderer('contactForces', yr.VectorsRenderer(contactForces, contactPositions,(0,255,0)))
viewer.doc.addRenderer('rd_box', rd_box)
viewer.setMaxFrame(500)
def simulateCallback(frame):
th_r = motion.getDOFPositions(frame)
th = controlModel.getDOFPositions()
dth_r = motion.getDOFVelocities(frame)
dth = controlModel.getDOFVelocities()
ddth_r = motion.getDOFAccelerations(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt)
for i in range(stepsPerFrame):
# get penalty forces
# bodyIDs, positions, positionLocals, forces = vpWorld.calcPenaltyForce(bodyIDsToCheck, mus, 1000, 10)
bodyIDs, positions, positionLocals, forces = vpWorld.calcPenaltyForce_Boxes(rd_box.boxSizes, rd_box.Ts, bodyIDsToCheck, mus, 1000, 10)
# apply penalty forces
vpWorld.applyPenaltyForce(bodyIDs, positionLocals, forces)
controlModel.setDOFAccelerations(ddth_des)
controlModel.solveHybridDynamics()
vpWorld.step()
contactPositions[:] = positions
contactForces[:] = forces
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_replaceBvhFile():
# motion
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
bvh = readBvhFileAsBvh(bvhFilePath)
motion = bvh.toJointMotion(.01, False)
partBvhFilePath = '../samples/simpleJump_long.bvh'
partBvh = readBvhFileAsBvh(partBvhFilePath)
bvh.replaceJointFromBvh('RightFoot', partBvh)
partBvh = readBvhFileAsBvh(partBvhFilePath)
partBvh.mirror('YZ')
bvh.replaceJointFromBvh('LeftFoot', partBvh)
motion2 = bvh.toJointMotion(.01, False)
def buildMassMap():
massMap = {}
massMap = massMap.fromkeys([
'Head',
'Head_Effector',
'Hips',
'LeftArm',
'LeftFoot',
'LeftForeArm',
'LeftHand',
'LeftHand_Effector',
'LeftLeg',
'LeftShoulder1',
'LeftUpLeg',
'RightArm',
'RightFoot',
'RightForeArm',
'RightHand',
'RightHand_Effector',
'RightLeg',
'RightShoulder',
'RightUpLeg',
'Spine',
'Spine1',
'RightFoot_foot_0_0',
'RightFoot_foot_0_1',
'RightFoot_foot_0_1_Effector',
'RightFoot_foot_1_0',
'RightFoot_foot_1_1',
'RightFoot_foot_1_1_Effector',
'RightFoot_foot_2_0',
'RightFoot_foot_2_1',
'RightFoot_foot_2_1_Effector',
'LeftFoot_foot_0_0',
'LeftFoot_foot_0_1',
'LeftFoot_foot_0_1_Effector',
'LeftFoot_foot_1_0',
'LeftFoot_foot_1_1',
'LeftFoot_foot_1_1_Effector',
'LeftFoot_foot_2_0',
'LeftFoot_foot_2_1',
'LeftFoot_foot_2_1_Effector',
], 0.)
# torso : 10
massMap['Hips'] += 2.
massMap['Spine'] += 8.
# head : 3
massMap['Spine1'] += 3.
# right upper arm : 2
massMap['RightArm'] += 2.
# left upper arm : 2
massMap['LeftArm'] += 2.
# right lower arm : 1
massMap['RightForeArm'] = 1.
# massMap['RightForeArm'] = 2.
# left lower arm : 1
massMap['LeftForeArm'] = 1.
# massMap['LeftForeArm'] = 2.
# right thigh : 7
massMap['Hips'] += 2.
massMap['RightUpLeg'] += 5.
# left thigh : 7
massMap['Hips'] += 2.
massMap['LeftUpLeg'] += 5.
# right shin : 5
massMap['RightLeg'] += 5.
# left shin : 5
massMap['LeftLeg'] += 5.
# right foot : 4
massMap['RightFoot'] += 2.
# left foot : 4
massMap['LeftFoot'] += 2.
massMap['RightFoot_foot_0_0'] = .3
massMap['RightFoot_foot_0_1'] = .3
massMap['RightFoot_foot_1_0'] = .3
massMap['RightFoot_foot_1_1'] = .3
massMap['RightFoot_foot_2_0'] = .3
massMap['RightFoot_foot_2_1'] = .3
massMap['LeftFoot_foot_0_0'] = .3
massMap['LeftFoot_foot_0_1'] = .3
massMap['LeftFoot_foot_1_0'] = .3
massMap['LeftFoot_foot_1_1'] = .3
massMap['LeftFoot_foot_2_0'] = .3
massMap['LeftFoot_foot_2_1'] = .3
return massMap
def buildMcfg():
massMap = buildMassMap()
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
totalMass = 0.
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
totalMass += node.mass
node = mcfg.getNode('Hips')
node.length = .2
node.width = .25
node = mcfg.getNode('Spine1')
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode('Spine')
node.width = .22
node = mcfg.getNode('RightFoot')
node.length = .25
# node.length = .27
# node.offset = (0,0,0.01)
node.width = .1
node.geom = 'MyFoot1'
node = mcfg.getNode('LeftFoot')
node.length = .25
# node.length = .27
# node.offset = (0,0,0.01)
node.width = .1
node.geom = 'MyFoot1'
def capsulize(node_name):
node = mcfg.getNode(node_name)
node.geom = 'MyFoot4'
node.width = 0.02
capsulize('RightFoot')
capsulize('LeftFoot')
capsulize('RightFoot_foot_0_0')
capsulize('RightFoot_foot_0_1')
capsulize('RightFoot_foot_1_0')
capsulize('RightFoot_foot_1_1')
capsulize('RightFoot_foot_2_0')
capsulize('RightFoot_foot_2_1')
capsulize('LeftFoot_foot_0_0')
capsulize('LeftFoot_foot_0_1')
capsulize('LeftFoot_foot_1_0')
capsulize('LeftFoot_foot_1_1')
capsulize('LeftFoot_foot_2_0')
capsulize('LeftFoot_foot_2_1')
return mcfg
mcfg = buildMcfg()
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
wcfg.lockingVel = 0.05
stepsPerFrame = 30
wcfg.timeStep = 0.001
print(motion2[0].skeleton)
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion2[0], mcfg)
# vpWorld.initialize()
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion',
yr.JointMotionRenderer(motion, (0, 255, 0)))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('motion2',
yr.JointMotionRenderer(motion2, (255, 0, 0)))
viewer.doc.addObject('motion2', motion2)
viewer.doc.addRenderer(
'csmotion2',
cvr.VpModelRenderer(motionModel, (255, 0, 0), yr.POLYGON_FILL))
viewer.startTimer(1 / motion.fps)
def callback(frame):
motionModel.update(motion2[frame])
viewer.setSimulateCallback(callback)
viewer.show()
Fl.run()
tempFilePath = '../samples/motion_foot_temp_wd2_WalkSameSame00.bvh.temp'
def push_simbicon_mass():
# Trunk 29.27
# Head 5.89
# Pelvis 16.61
# Thigh 8.35
# Shank 4.16
# Foot 1.34
# Arm 2.79
# Forearm 1.21
# Hand 0.55
class ForceInfo:
def __init__(self, startFrame, duration, force):
self.startFrame = startFrame # frame
self.duration = duration # sec
self.force = force # Newton
self.targetBody = None
#===============================================================================
# load motion
#===============================================================================
MULTI_VIEWER = False
CAMERA_TRACKING = True
TORQUE_PLOT = False
# global parameters
Kt = 60.; Dt = 2*(Kt**.5)
Ks = 4000.; Ds = 2*(Ks**.5)
K_stb_vel = .1
mu = 2.
# constaants
c_min_contact_vel = 100.
# c_min_contact_vel = 2.
c_min_contact_time = .7
c_landing_duration = .2
c_taking_duration = .3
# c_swf_mid_offset = .0
c_swf_mid_offset = .02
c_swf_stability = .5
c_locking_vel = .05
# c_swf_offset = .0
c_swf_offset = .01
# c_swf_offset = .005
K_stp_pos = 0.
# c5 = .5; c6 = .01
c5 = .5; c6 = .02
# c5 = .5; c6 = .05
# c5 = 1.; c6 = .05
# c5 = .0; c6 = .0
K_stb_vel = .1
K_stb_pos = .1
OLD_SWING_HEIGHT = False
# OLD_SWING_HEIGHT = True
HIGHER_OFFSET = True
# HIGHER_OFFSET = False
dir = './ppmotion/'
# max push
# forceInfos = []
# maximum
# forceInfos = [ForceInfo(4*i*30, .4, (160,0,0)) for i in range(2,12)]
# forceInfos = [ForceInfo(4*i*30, .4, (-130,0,0)) for i in range(2,12)]
# forceInfos = [ForceInfo(4*i*30, .4, (0,0,80)) for i in range(2,12)]
forceInfos = [ForceInfo(4*i*30+1, .4, (0,0,-105)) for i in range(2,12)]
# # maximum with more checking
# forceInfos = [ForceInfo(4*i*30, .4, (145,0,0)) for i in range(2,12)]
# forceInfos = [ForceInfo(4*i*30+1, .4, (-120,0,0)) for i in range(2,12)]
# forceInfos = [ForceInfo(4*i*30+1, .4, (0,0,80)) for i in range(2,12)]
# forceInfos = [ForceInfo(4*i*30, .4, (0,0,-105)) for i in range(2,12)]
# # for video
# forceInfos = [ForceInfo(4*i*30+2, .4, (160,0,0)) for i in range(2,4)] \
# + [ForceInfo(4*i*30+2, .4, (0,0,-105)) for i in range(4,6)] \
# + [ForceInfo(4*i*30+2, .4, (-130,0,0)) for i in range(6,8)] \
# + [ForceInfo(4*i*30+2, .4, (0,0,80)) for i in range(8,10)]
# Kt = 40.; Dt = 2*(Kt**.5)
# Ks = 3000.; Ds = 2*(Ks**.5)
# mu = 1.
# c_swf_mid_offset = .04
# K_swp_vel_sag = .0; K_swp_vel_sag_faster = .0;
# K_swp_pos_sag = 1.5; K_swp_pos_sag_faster = .1;
# K_swp_vel_cor = .25; K_swp_pos_cor = .3
# K_stp_pos = 0.
# K_stb_vel = .02
# K_stb_pos = .15
Kt = 40.; Dt = 2*(Kt**.5)
Ks = 3000.; Ds = 2*(Ks**.5)
mu = 1.5
c_swf_mid_offset = .04
K_swp_vel_sag = .05; K_swp_vel_sag_faster = .0;
K_swp_pos_sag = 1.7; K_swp_pos_sag_faster = .1;
K_swp_vel_cor = .25; K_swp_pos_cor = .3
# K_stb_vel = .02
# K_stb_pos = .15
filename = 'wd2_WalkSameSame01_REPEATED.bvh'
motion_ori = yf.readBvhFile(dir+filename)
frameTime = 1/motion_ori.fps
if 'REPEATED' in filename:
REPEATED = True
CAMERA_TRACKING = True
else:
REPEATED = False
#===============================================================================
# options
#===============================================================================
SEGMENT_EDITING = True
STANCE_FOOT_STABILIZE = True
MATCH_STANCE_LEG = True
SWING_FOOT_PLACEMENT = True
SWING_FOOT_HEIGHT = True
if '_FOOT' in filename:
SWING_FOOT_ORIENTATION = True
else:
SWING_FOOT_ORIENTATION = False
STANCE_FOOT_PUSH = True
STANCE_FOOT_BALANCING = True
stitch_func = lambda x : 1. - yfg.hermite2nd(x)
stf_stabilize_func = yfg.concatenate([yfg.hermite2nd, yfg.one], [c_landing_duration])
match_stl_func = yfg.hermite2nd
# match_stl_func_y = yfg.hermite2nd
swf_placement_func = yfg.hermite2nd
swf_height_func = yfg.hermite2nd
swf_height_sine_func = yfg.sine
# stf_balancing_func = yfg.concatenate([yfg.hermite2nd, yfg.one], [c_landing_duration])
stf_balancing_func = yfg.hermite2nd
#===============================================================================
# initialize character
#===============================================================================
# mcfgfile = open(dir + 'mcfg', 'r')
mcfgfile = open('mcfg_simbicon', 'r')
mcfg = cPickle.load(mcfgfile)
mcfgfile.close()
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
wcfg.lockingVel = c_locking_vel
stepsPerFrame = 30
wcfg.timeStep = (frameTime)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion_ori[0], mcfg)
controlModel = cvm.VpControlModel(vpWorld, motion_ori[0], mcfg)
vpWorld.initialize()
print controlModel
motionModel.recordVelByFiniteDiff()
controlModel.initializeHybridDynamics()
#===============================================================================
# load segment info
#===============================================================================
skeleton = motion_ori[0].skeleton
segname = os.path.splitext(filename)[0]+'.seg'
segfile = open(dir+segname, 'r')
seginfo = cPickle.load(segfile)
segfile.close()
intervals = [info['interval'] for info in seginfo]
states = [info['state'] for info in seginfo]
temp_motion = copy.deepcopy(motion_ori)
segments = yma.splitMotionIntoSegments(temp_motion, intervals)
print len(intervals), 'segments'
for i in range(len(intervals)):
print '%dth'%i, yba.GaitState.text[states[i]], intervals[i], ',',
print
motion_seg_orig = ym.JointMotion()
motion_seg_orig += segments[0]
motion_seg = ym.JointMotion()
motion_seg += segments[0]
motion_stitch = ym.JointMotion()
motion_stitch += segments[0]
motion_stf_stabilize = ym.JointMotion()
motion_match_stl = ym.JointMotion()
motion_swf_placement = ym.JointMotion()
motion_swf_height = ym.JointMotion()
motion_swf_orientation = ym.JointMotion()
motion_stf_balancing = ym.JointMotion()
motion_stf_push = ym.JointMotion()
motion_control = ym.JointMotion()
motion_debug1 = ym.JointMotion()
motion_debug2 = ym.JointMotion()
motion_debug3 = ym.JointMotion()
P = ym.JointMotion()
P_hat = ym.JointMotion()
M_tc = ym.JointMotion()
M_hat_tc_1 = ym.JointMotion()
#===============================================================================
# loop variable
#===============================================================================
seg_index = [0]
acc_offset = [0]
extended = [False]
prev_R_swp = [None]
stl_y_limit_num = [0]
stl_xz_limit_num = [0]
avg_dCM = [mm.O_Vec3()]
# avg_stf_v = [mm.O_Vec3()]
# avg_stf_av = [mm.O_Vec3()]
# stf_push_func = [yfg.zero]
step_length_cur = [0.]
step_length_tar = [0.]
step_axis = [mm.O_Vec3()]
#===============================================================================
# information
#===============================================================================
bodyIDsToCheck = range(vpWorld.getBodyNum())
mus = [mu]*len(bodyIDsToCheck)
bodyMasses = controlModel.getBodyMasses()
totalMass = controlModel.getTotalMass()
lID = controlModel.name2id('LeftFoot'); rID = controlModel.name2id('RightFoot')
lUpLeg = skeleton.getJointIndex('LeftUpLeg');rUpLeg = skeleton.getJointIndex('RightUpLeg')
lKnee = skeleton.getJointIndex('LeftLeg'); rKnee = skeleton.getJointIndex('RightLeg')
lFoot = skeleton.getJointIndex('LeftFoot'); rFoot = skeleton.getJointIndex('RightFoot')
spine = skeleton.getJointIndex('Spine')
uppers = [skeleton.getJointIndex(name) for name in ['Hips', 'Spine', 'Spine1', 'LeftArm', 'LeftForeArm', 'RightArm', 'RightForeArm']]
upperMass = sum([bodyMasses[i] for i in uppers])
lLegs = [skeleton.getJointIndex(name) for name in ['LeftUpLeg', 'LeftLeg', 'LeftFoot']]
rLegs = [skeleton.getJointIndex(name) for name in ['RightUpLeg', 'RightLeg', 'RightFoot']]
allJoints = set(range(skeleton.getJointNum()))
halfFootHeight = controlModel.getBodyShape(lFoot)[1] / 2.
for fi in forceInfos:
fi.targetBody = spine
#===========================================================================
# data collection
#===========================================================================
rhip_torques = []
rknee_torques = []
rankle_torques = []
#===============================================================================
# rendering
#===============================================================================
rd_CM = [None]; rd_CP = [None]; rd_CMP = [None]
rd_forces = [None]; rd_force_points = [None]
rd_torques = []; rd_joint_positions = []
rd_point1 = [None]
rd_point2 = [None]
rd_vec1 = [None]; rd_vecori1 = [None]
rd_vec2 = [None]; rd_vecori2 = [None]
rd_frame1 = [None]
rd_frame2 = [None]
if MULTI_VIEWER:
viewer = ymv.MultiViewer(800, 655, True, wheelWork=True)
# viewer = ymv.MultiViewer(1600, 1255)
viewer.setRenderers1([cvr.VpModelRenderer(motionModel, MOTION_COLOR, yr.POLYGON_FILL)])
viewer.setRenderers2([cvr.VpModelRenderer(controlModel, CHARACTER_COLOR, yr.POLYGON_FILL),
yr.ForcesRenderer(rd_forces, rd_force_points, (255,0,0), ratio=.01, lineWidth=.04, fromPoint=False)])
# viewer.glWindow2.groundOffset[0] -= 10
viewer.glWindow2.groundSize = 100
else:
viewer = ysv.SimpleViewer()
# viewer.record(False)
# viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(motionModel, (0,150,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (200,200,200), yr.POLYGON_LINE))
# viewer.doc.addObject('motion_ori', motion_ori)
# viewer.doc.addRenderer('motion_ori', yr.JointMotionRenderer(motion_ori, (0,100,255), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_seg_orig', yr.JointMotionRenderer(motion_seg_orig, (0,100,255), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_seg', yr.JointMotionRenderer(motion_seg, (0,150,255), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_stitch', yr.JointMotionRenderer(motion_stitch, (0,255,200), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_stf_stabilize', yr.JointMotionRenderer(motion_stf_stabilize, (255,0,0), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_match_stl', yr.JointMotionRenderer(motion_match_stl, (255,200,0), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_swf_placement', yr.JointMotionRenderer(motion_swf_placement, (255,100,255), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_swf_height', yr.JointMotionRenderer(motion_swf_height, (50,255,255), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_swf_orientation', yr.JointMotionRenderer(motion_swf_orientation, (255,100,0), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_stf_push', yr.JointMotionRenderer(motion_stf_push, (50,255,200), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_stf_balancing', yr.JointMotionRenderer(motion_stf_balancing, (255,100,255), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_control', yr.JointMotionRenderer(motion_control, (255,0,0), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_debug1', yr.JointMotionRenderer(motion_debug1, (0,255,0), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_debug2', yr.JointMotionRenderer(motion_debug2, (255,0,255), yr.LINK_BONE))
# viewer.doc.addRenderer('motion_debug3', yr.JointMotionRenderer(motion_debug3, (255,255,0), yr.LINK_BONE))
# viewer.doc.addRenderer('M_tc', yr.JointMotionRenderer(M_tc, (255,255,0), yr.LINK_BONE))
# viewer.doc.addRenderer('P_hat', yr.JointMotionRenderer(P_hat, (255,255,0), yr.LINK_BONE))
# viewer.doc.addRenderer('P', yr.JointMotionRenderer(P, (255,255,0), yr.LINK_BONE))
# viewer.doc.addRenderer('M_hat_tc_1', yr.JointMotionRenderer(M_hat_tc_1, (255,255,0), yr.LINK_BONE))
# viewer.doc.addRenderer('rd_CM', yr.PointsRenderer(rd_CM, (255,255,0)))
# viewer.doc.addRenderer('rd_CP', yr.PointsRenderer(rd_CP, (255,0,0)))
# viewer.doc.addRenderer('rd_CMP', yr.PointsRenderer(rd_CMP, (0,255,0)))
viewer.doc.addRenderer('forces', yr.ForcesRenderer(rd_forces, rd_force_points, (255,0,0), ratio=.01, lineWidth=.04, fromPoint=False))
# viewer.doc.addRenderer('torques', yr.VectorsRenderer(rd_torques, rd_joint_positions, (255,0,0)))
# viewer.doc.addRenderer('rd_point1', yr.PointsRenderer(rd_point1, (0,255,0)))
# viewer.doc.addRenderer('rd_point2', yr.PointsRenderer(rd_point2, (255,0,0)))
# viewer.doc.addRenderer('rd_vec1', yr.VectorsRenderer(rd_vec1, rd_vecori1, (255,0,0)))
# viewer.doc.addRenderer('rd_vec2', yr.VectorsRenderer(rd_vec2, rd_vecori2, (0,255,0)))
# viewer.doc.addRenderer('rd_frame1', yr.FramesRenderer(rd_frame1, (0,200,200)))
# viewer.doc.addRenderer('rd_frame2', yr.FramesRenderer(rd_frame2, (200,200,0)))
# viewer.setMaxFrame(len(motion_ori)-1)
if not REPEATED:
viewer.setMaxFrame(len(motion_ori)-1)
else:
viewer.setMaxFrame(1440)
if CAMERA_TRACKING:
if MULTI_VIEWER:
cameraTargets1 = [None] * (viewer.getMaxFrame()+1)
cameraTargets2 = [None] * (viewer.getMaxFrame()+1)
else:
cameraTargets = [None] * (viewer.getMaxFrame()+1)
if TORQUE_PLOT:
rhip_torques = [0.]*viewer.getMaxFrame()
rknee_torques = [0.]*viewer.getMaxFrame()
rankle_torques = [0.]*viewer.getMaxFrame()
pt = [0.]
def postFrameCallback_Always(frame):
if frame==1: pt[0] = time.time()
if frame==31: print 'elapsed time for 30 frames:', time.time()-pt[0]
if CAMERA_TRACKING:
if MULTI_VIEWER:
if cameraTargets1[frame]==None:
cameraTargets1[frame] = motionModel.getBodyPositionGlobal(0)
# cameraTargets1[frame] = motion_ori[frame].getJointPositionGlobal(0)
viewer.setCameraTarget1(cameraTargets1[frame])
if cameraTargets2[frame]==None:
cameraTargets2[frame] = controlModel.getJointPositionGlobal(0)
viewer.setCameraTarget2(cameraTargets2[frame])
else:
if cameraTargets[frame]==None:
cameraTargets[frame] = controlModel.getJointPositionGlobal(0)
viewer.setCameraTarget(cameraTargets[frame])
if plot!=None:
plot.updateVline(frame)
viewer.setPostFrameCallback_Always(postFrameCallback_Always)
plot = None
# plot = ymp.InteractivePlot()
if plot!=None:
plot.setXlimit(0, len(motion_ori))
plot.setYlimit(0., 1.)
plot.addDataSet('zero')
plot.addDataSet('diff')
plot.addDataSet('debug1')
plot.addDataSet('debug2')
def viewer_onClose(data):
if plot!=None:
plot.close()
viewer.onClose(data)
viewer.callback(viewer_onClose)
def simulateCallback(frame):
# seginfo
segIndex = seg_index[0]
curState = seginfo[segIndex]['state']
curInterval = yma.offsetInterval(acc_offset[0], seginfo[segIndex]['interval'])
stanceLegs = seginfo[segIndex]['stanceHips']
swingLegs = seginfo[segIndex]['swingHips']
stanceFoots = seginfo[segIndex]['stanceFoots']
swingFoots = seginfo[segIndex]['swingFoots']
swingKnees = seginfo[segIndex]['swingKnees']
groundHeight = seginfo[segIndex]['ground_height']
# maxStfPushFrame = seginfo[segIndex]['max_stf_push_frame']
prev_frame = frame-1 if frame>0 else 0
# prev_frame = frame
# information
# dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(frame), bodyMasses, upperMass, uppers)
# CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(frame), bodyMasses, upperMass, uppers)
## dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(frame), bodyMasses, totalMass)
## CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(frame), bodyMasses, totalMass)
# stf_tar = motion_seg.getJointPositionGlobal(stanceFoots[0], frame)
# CMr_tar = CM_tar - stf_tar
dCM_tar = motion_seg.getJointVelocityGlobal(0, prev_frame)
CM_tar = motion_seg.getJointPositionGlobal(0, prev_frame)
# dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(prev_frame), bodyMasses, upperMass, uppers)
# CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(prev_frame), bodyMasses, upperMass, uppers)
# dCM_tar = yrp.getCM(motion_seg.getJointVelocitiesGlobal(prev_frame), bodyMasses, totalMass)
# CM_tar = yrp.getCM(motion_seg.getJointPositionsGlobal(prev_frame), bodyMasses, totalMass)
stf_tar = motion_seg.getJointPositionGlobal(stanceFoots[0], prev_frame)
CMr_tar = CM_tar - stf_tar
dCM = avg_dCM[0]
CM = controlModel.getJointPositionGlobal(0)
# CM = yrp.getCM(controlModel.getJointPositionsGlobal(), bodyMasses, upperMass, uppers)
# CM = yrp.getCM(controlModel.getJointPositionsGlobal(), bodyMasses, totalMass)
CMreal = yrp.getCM(controlModel.getJointPositionsGlobal(), bodyMasses, totalMass)
stf = controlModel.getJointPositionGlobal(stanceFoots[0])
CMr = CM - stf
diff_dCM = mm.projectionOnPlane(dCM-dCM_tar, (1,0,0), (0,0,1))
diff_dCM_axis = np.cross((0,1,0), diff_dCM)
rd_vec1[0] = diff_dCM; rd_vecori1[0] = CM_tar
diff_CMr = mm.projectionOnPlane(CMr-CMr_tar, (1,0,0), (0,0,1))
# rd_vec1[0] = diff_CMr; rd_vecori1[0] = stf_tar
diff_CMr_axis = np.cross((0,1,0), diff_CMr)
direction = mm.normalize2(mm.projectionOnPlane(dCM_tar, (1,0,0), (0,0,1)))
# direction = mm.normalize2(mm.projectionOnPlane(dCM, (1,0,0), (0,0,1)))
directionAxis = np.cross((0,1,0), direction)
diff_dCM_sag, diff_dCM_cor = mm.projectionOnVector2(diff_dCM, direction)
# rd_vec1[0] = diff_dCM_sag; rd_vecori1[0] = CM_tar
diff_dCM_sag_axis = np.cross((0,1,0), diff_dCM_sag)
diff_dCM_cor_axis = np.cross((0,1,0), diff_dCM_cor)
diff_CMr_sag, diff_CMr_cor = mm.projectionOnVector2(diff_CMr, direction)
diff_CMr_sag_axis = np.cross((0,1,0), diff_CMr_sag)
diff_CMr_cor_axis = np.cross((0,1,0), diff_CMr_cor)
t = (frame-curInterval[0])/float(curInterval[1]-curInterval[0])
t_raw = t
if t>1.: t=1.
p_root = motion_stitch[frame].getJointPositionGlobal(0)
R_root = motion_stitch[frame].getJointOrientationGlobal(0)
motion_seg_orig.goToFrame(frame)
motion_seg.goToFrame(frame)
motion_stitch.goToFrame(frame)
motion_debug1.append(motion_stitch[frame].copy())
motion_debug1.goToFrame(frame)
motion_debug2.append(motion_stitch[frame].copy())
motion_debug2.goToFrame(frame)
motion_debug3.append(motion_stitch[frame].copy())
motion_debug3.goToFrame(frame)
# paper implementation
M_tc.append(motion_stitch[prev_frame])
M_tc.goToFrame(frame)
P_hat.append(M_tc[frame].copy())
P_hat.goToFrame(frame)
p_temp = ym.JointPosture(skeleton)
p_temp.rootPos = controlModel.getJointPositionGlobal(0)
p_temp.setJointOrientationsLocal(controlModel.getJointOrientationsLocal())
P.append(p_temp)
P.goToFrame(frame)
# stance foot stabilize
motion_stf_stabilize.append(motion_stitch[frame].copy())
motion_stf_stabilize.goToFrame(frame)
if STANCE_FOOT_STABILIZE:
for stanceFoot in stanceFoots:
R_target_foot = motion_seg[frame].getJointOrientationGlobal(stanceFoot)
R_current_foot = motion_stf_stabilize[frame].getJointOrientationGlobal(stanceFoot)
motion_stf_stabilize[frame].setJointOrientationGlobal(stanceFoot, cm.slerp(R_current_foot, R_target_foot , stf_stabilize_func(t)))
# R_target_foot = motion_seg[frame].getJointOrientationLocal(stanceFoot)
# R_current_foot = motion_stf_stabilize[frame].getJointOrientationLocal(stanceFoot)
# motion_stf_stabilize[frame].setJointOrientationLocal(stanceFoot, cm.slerp(R_current_foot, R_target_foot , stf_stabilize_func(t)))
# match stance leg
motion_match_stl.append(motion_stf_stabilize[frame].copy())
motion_match_stl.goToFrame(frame)
if MATCH_STANCE_LEG:
if curState!=yba.GaitState.STOP:
for i in range(len(stanceLegs)):
stanceLeg = stanceLegs[i]
stanceFoot = stanceFoots[i]
# # motion stance leg -> character stance leg as time goes
R_motion = motion_match_stl[frame].getJointOrientationGlobal(stanceLeg)
R_character = controlModel.getJointOrientationGlobal(stanceLeg)
motion_match_stl[frame].setJointOrientationGlobal(stanceLeg, cm.slerp(R_motion, R_character, match_stl_func(t)))
# t_y = match_stl_func_y(t)
# t_xz = match_stl_func(t)
#
# R_motion = motion_match_stl[frame].getJointOrientationGlobal(stanceLeg)
# R_character = controlModel.getJointOrientationGlobal(stanceLeg)
# R = np.dot(R_character, R_motion.T)
# R_y, R_xz = mm.projectRotation((0,1,0), R)
# motion_match_stl[frame].mulJointOrientationGlobal(stanceLeg, mm.scaleSO3(R_xz, t_xz))
# motion_match_stl[frame].mulJointOrientationGlobal(stanceLeg, mm.scaleSO3(R_y, t_y))
# swing foot placement
motion_swf_placement.append(motion_match_stl[frame].copy())
motion_swf_placement.goToFrame(frame)
if SWING_FOOT_PLACEMENT:
t_swing_foot_placement = swf_placement_func(t);
if extended[0]:
R_swp_sag = prev_R_swp[0][0]
R_swp_cor = prev_R_swp[0][1]
else:
R_swp_sag = mm.I_SO3(); R_swp_cor = mm.I_SO3()
R_swp_cor = np.dot(R_swp_cor, mm.exp(diff_dCM_cor_axis * K_swp_vel_cor * -t_swing_foot_placement))
if np.dot(direction, diff_CMr_sag) < 0:
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_dCM_sag_axis * K_swp_vel_sag * -t_swing_foot_placement))
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_CMr_sag_axis * K_swp_pos_sag * -t_swing_foot_placement))
else:
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_dCM_sag_axis * K_swp_vel_sag_faster * -t_swing_foot_placement))
R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_CMr_sag_axis * K_swp_pos_sag_faster * -t_swing_foot_placement))
R_swp_cor = np.dot(R_swp_cor, mm.exp(diff_CMr_cor_axis * K_swp_pos_cor * -t_swing_foot_placement))
for i in range(len(swingLegs)):
swingLeg = swingLegs[i]
swingFoot = swingFoots[i]
# save swing foot global orientation
# R_swf = motion_swf_placement[frame].getJointOrientationGlobal(swingFoot)
# rotate swing leg
motion_swf_placement[frame].mulJointOrientationGlobal(swingLeg, R_swp_sag)
motion_swf_placement[frame].mulJointOrientationGlobal(swingLeg, R_swp_cor)
# restore swing foot global orientation
# motion_swf_placement[frame].setJointOrientationGlobal(swingFoot, R_swf)
prev_R_swp[0] = (R_swp_sag, R_swp_cor)
# swing foot height
motion_swf_height.append(motion_swf_placement[frame].copy())
motion_swf_height.goToFrame(frame)
if SWING_FOOT_HEIGHT:
for swingFoot in swingFoots:
stanceFoot = stanceFoots[0]
# save foot global orientation
R_foot = motion_swf_height[frame].getJointOrientationGlobal(swingFoot)
R_stance_foot = motion_swf_height[frame].getJointOrientationGlobal(stanceFoot)
if OLD_SWING_HEIGHT:
height_tar = motion_swf_height[frame].getJointPositionGlobal(swingFoot)[1] - motion_swf_height[frame].getJointPositionGlobal(stanceFoot)[1]
else:
height_tar = motion_swf_height[prev_frame].getJointPositionGlobal(swingFoot)[1] - groundHeight
d_height_tar = motion_swf_height.getJointVelocityGlobal(swingFoot, prev_frame)[1]
# height_tar += c_swf_mid_offset * swf_height_sine_func(t)
# motion_debug1[frame] = motion_swf_height[frame].copy()
# rotate
motion_swf_height[frame].rotateByTarget(controlModel.getJointOrientationGlobal(0))
# motion_debug2[frame] = motion_swf_height[frame].copy()
# motion_debug2[frame].translateByTarget(controlModel.getJointPositionGlobal(0))
if OLD_SWING_HEIGHT:
height_cur = motion_swf_height[frame].getJointPositionGlobal(swingFoot)[1] - motion_swf_height[frame].getJointPositionGlobal(stanceFoot)[1]
else:
height_cur = controlModel.getJointPositionGlobal(swingFoot)[1] - halfFootHeight - c_swf_offset
d_height_cur = controlModel.getJointVelocityGlobal(swingFoot)[1]
if OLD_SWING_HEIGHT:
offset_height = (height_tar - height_cur) * swf_height_func(t) * c5
else:
offset_height = ((height_tar - height_cur) * c5
+ (d_height_tar - d_height_cur) * c6) * swf_height_func(t)
offset_sine = c_swf_mid_offset * swf_height_sine_func(t)
# offset_sine = 0.
offset = 0.
offset += offset_height
offset += offset_sine
if offset > 0.:
newPosition = motion_swf_height[frame].getJointPositionGlobal(swingFoot)
newPosition[1] += offset
aik.ik_analytic(motion_swf_height[frame], swingFoot, newPosition)
else:
if HIGHER_OFFSET:
newPosition = motion_swf_height[frame].getJointPositionGlobal(stanceFoot)
newPosition[1] -= offset
aik.ik_analytic(motion_swf_height[frame], stanceFoot, newPosition)
# return
# motion_debug3[frame] = motion_swf_height[frame].copy()
# motion_debug3[frame].translateByTarget(controlModel.getJointPositionGlobal(0))
motion_swf_height[frame].rotateByTarget(R_root)
# restore foot global orientation
motion_swf_height[frame].setJointOrientationGlobal(swingFoot, R_foot)
motion_swf_height[frame].setJointOrientationGlobal(stanceFoot, R_stance_foot)
if plot!=None:
plot.addDataPoint('debug1', frame, offset_height)
plot.addDataPoint('debug2', frame, height_tar - height_cur)
# plot.addDataPoint('diff', frame, diff)
# swing foot orientation
motion_swf_orientation.append(motion_swf_height[frame].copy())
motion_swf_orientation.goToFrame(frame)
if SWING_FOOT_ORIENTATION:
swf_orientation_func = yfg.concatenate([yfg.zero, yfg.hermite2nd, yfg.one], [.25, .75])
for swingFoot in swingFoots:
R_target_foot = motion_seg[curInterval[1]].getJointOrientationGlobal(swingFoot)
R_current_foot = motion_swf_orientation[frame].getJointOrientationGlobal(swingFoot)
motion_swf_orientation[frame].setJointOrientationGlobal(swingFoot, cm.slerp(R_current_foot, R_target_foot, swf_orientation_func(t)))
# swf_stabilize_func = yfg.concatenate([yfg.hermite2nd, yfg.one], [c_taking_duration])
# push orientation
# for swingFoot in swingFoots:
# R_target_foot = motion_seg[frame].getJointOrientationGlobal(swingFoot)
# R_current_foot = motion_swf_orientation[frame].getJointOrientationGlobal(swingFoot)
# motion_swf_orientation[frame].setJointOrientationGlobal(swingFoot, cm.slerp(R_current_foot, R_target_foot , swf_stabilize_func(t)))
# stance foot push
motion_stf_push.append(motion_swf_orientation[frame].copy())
motion_stf_push.goToFrame(frame)
if STANCE_FOOT_PUSH:
for swingFoot in swingFoots:
# max_t = (maxStfPushFrame)/float(curInterval[1]-curInterval[0])
# stf_push_func = yfg.concatenate([yfg.sine, yfg.zero], [max_t*2])
stf_push_func = yfg.concatenate([yfg.sine, yfg.zero], [c_taking_duration*2])
R_swp_sag = mm.I_SO3()
# R_swp_sag = np.dot(R_swp_sag, mm.exp(diff_dCM_sag_axis * K_stp_vel * -stf_push_func(t)))
# if step_length_cur[0] < step_length_tar[0]:
# ratio = step_length_cur[0] / step_length_tar[0]
# R_max = maxmaxStfPushFrame
# R_zero =
R_swp_sag = np.dot(R_swp_sag, mm.exp((step_length_tar[0] - step_length_cur[0])*step_axis[0] * K_stp_pos * -stf_push_func(t)))
motion_stf_push[frame].mulJointOrientationGlobal(swingFoot, R_swp_sag)
# stance foot balancing
motion_stf_balancing.append(motion_stf_push[frame].copy())
motion_stf_balancing.goToFrame(frame)
if STANCE_FOOT_BALANCING:
R_stb = mm.exp(diff_dCM_axis * K_stb_vel * stf_balancing_func(t))
R_stb = np.dot(R_stb, mm.exp(diff_CMr_axis * K_stb_pos * stf_balancing_func(t)))
for stanceFoot in stanceFoots:
if frame < 5: continue
motion_stf_balancing[frame].mulJointOrientationGlobal(stanceFoot, R_stb)
# control trajectory
motion_control.append(motion_stf_balancing[frame].copy())
motion_control.goToFrame(frame)
#=======================================================================
# tracking with inverse dynamics
#=======================================================================
th_r = motion_control.getDOFPositions(frame)
th = controlModel.getDOFPositions()
dth_r = motion_control.getDOFVelocities(frame)
dth = controlModel.getDOFVelocities()
ddth_r = motion_control.getDOFAccelerations(frame)
ddth_des = yct.getDesiredDOFAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt)
#=======================================================================
# simulation
#=======================================================================
CP = mm.v3(0.,0.,0.)
F = mm.v3(0.,0.,0.)
avg_dCM[0] = mm.v3(0.,0.,0.)
# external force rendering info
del rd_forces[:]; del rd_force_points[:]
for fi in forceInfos:
if fi.startFrame <= frame and frame < fi.startFrame + fi.duration*(1/frameTime):
rd_forces.append(fi.force)
rd_force_points.append(controlModel.getBodyPositionGlobal(fi.targetBody) + -mm.normalize2(fi.force)*.2)
for i in range(stepsPerFrame):
bodyIDs, contactPositions, contactPositionLocals, contactForces = vpWorld.calcPenaltyForce(bodyIDsToCheck, mus, Ks, Ds)
vpWorld.applyPenaltyForce(bodyIDs, contactPositionLocals, contactForces)
# apply external force
for fi in forceInfos:
if fi.startFrame <= frame and frame < fi.startFrame + fi.duration*(1/frameTime):
controlModel.applyBodyForceGlobal(fi.targetBody, fi.force)
controlModel.setDOFAccelerations(ddth_des)
controlModel.solveHybridDynamics()
# # apply external force
# for fi in forceInfos:
# if fi.startFrame <= frame and frame < fi.startFrame + fi.duration*(1/frameTime):
# controlModel.applyBodyForceGlobal(fi.targetBody, fi.force)
vpWorld.step()
# yvu.align2D(controlModel)
if len(contactForces) > 0:
CP += yrp.getCP(contactPositions, contactForces)
F += sum(contactForces)
avg_dCM[0] += controlModel.getJointVelocityGlobal(0)
# avg_dCM[0] += yrp.getCM(controlModel.getJointVelocitiesGlobal(), bodyMasses, upperMass, uppers)
# avg_dCM[0] += yrp.getCM(controlModel.getJointVelocitiesGlobal(), bodyMasses, totalMass)
# if len(stanceFoots)>0:
# avg_stf_v[0] += controlModel.getJointVelocityGlobal(stanceFoots[0])
# avg_stf_av[0] += controlModel.getJointAngVelocityGlobal(stanceFoots[0])
CP /= stepsPerFrame
F /= stepsPerFrame
avg_dCM[0] /= stepsPerFrame
# if len(stanceFoots)>0:
# avg_stf_v[0] /= stepsPerFrame
# avg_stf_av[0] /= stepsPerFrame
# rd_vec1[0] = avg_stf_av[0]; rd_vec1[0][0] = 0.; rd_vec1[0][2] = 0.
# rd_vecori1[0]= controlModel.getJointPositionGlobal(stanceFoots[0])
#=======================================================================
# segment editing
#=======================================================================
lastFrame = False
if SEGMENT_EDITING:
if curState==yba.GaitState.STOP:
if frame == len(motion_seg)-1:
lastFrame = True
elif (curState==yba.GaitState.LSWING or curState==yba.GaitState.RSWING) and t>c_min_contact_time:
swingID = lID if curState==yba.GaitState.LSWING else rID
contact = False
if swingID in bodyIDs:
minContactVel = 1000.
for i in range(len(bodyIDs)):
if bodyIDs[i]==swingID:
vel = controlModel.getBodyVelocityGlobal(swingID, contactPositionLocals[i])
vel[1] = 0
contactVel = mm.length(vel)
if contactVel < minContactVel: minContactVel = contactVel
if minContactVel < c_min_contact_vel: contact = True
extended[0] = False
if contact:
# print frame, 'foot touch'
lastFrame = True
acc_offset[0] += frame - curInterval[1]
elif frame == len(motion_seg)-1:
print frame, 'extend frame', frame+1
preserveJoints = []
# preserveJoints = [lFoot, rFoot]
# preserveJoints = [lFoot, rFoot, lKnee, rKnee]
# preserveJoints = [lFoot, rFoot, lKnee, rKnee, lUpLeg, rUpLeg]
stanceKnees = [rKnee] if curState==yba.GaitState.LSWING else [lKnee]
preserveJoints = [stanceFoots[0], stanceKnees[0], stanceLegs[0]]
diff = 3
motion_seg_orig.extend([motion_seg_orig[-1]])
motion_seg.extend(ymt.extendByIntegration_root(motion_seg, 1, diff))
motion_stitch.extend(ymt.extendByIntegration_constant(motion_stitch, 1, preserveJoints, diff))
# # extend for swing foot ground speed matching & swing foot height lower
## extendedPostures = ymt.extendByIntegration(motion_stitch, 1, preserveJoints, diff)
## extendedPostures = [motion_stitch[-1]]
##
# extendFrameNum = frame - curInterval[1] + 1
# k = 1.-extendFrameNum/5.
# if k<0.: k=0.
# extendedPostures = ymt.extendByIntegrationAttenuation(motion_stitch, 1, preserveJoints, diff, k)
#
## if len(swingFoots)>0 and np.inner(dCM_tar, dCM)>0.:
## print frame, 'speed matching'
## R_swf = motion_stitch[-1].getJointOrientationGlobal(swingFoots[0])
##
## p_swf = motion_stitch[-1].getJointPositionGlobal(swingFoots[0])
## v_swf = motion_stitch.getJointVelocityGlobal(swingFoots[0], frame-diff, frame)
## a_swf = motion_stitch.getJointAccelerationGlobal(swingFoots[0], frame-diff, frame)
## p_swf += v_swf * (frameTime) + a_swf * (frameTime)*(frameTime)
## aik.ik_analytic(extendedPostures[0], swingFoots[0], p_swf)
##
## extendedPostures[0].setJointOrientationGlobal(swingFoots[0], R_swf)
#
# motion_stitch.extend(extendedPostures)
extended[0] = True
else:
if frame == len(motion_seg)-1: lastFrame = True
if lastFrame:
if segIndex < len(segments)-1:
print '%d (%d): end of %dth seg (%s, %s)'%(frame, frame-curInterval[1],segIndex, yba.GaitState.text[curState], curInterval)
if plot!=None: plot.addDataPoint('diff', frame, (frame-curInterval[1])*.01)
if len(stanceFoots)>0 and len(swingFoots)>0:
# step_cur = controlModel.getJointPositionGlobal(swingFoots[0]) - controlModel.getJointPositionGlobal(stanceFoots[0])
# step_tar = motion_seg[curInterval[1]].getJointPositionGlobal(swingFoots[0]) - motion_seg[curInterval[1]].getJointPositionGlobal(stanceFoots[0])
step_cur = controlModel.getJointPositionGlobal(0) - controlModel.getJointPositionGlobal(stanceFoots[0])
step_tar = motion_seg[curInterval[1]].getJointPositionGlobal(0) - motion_seg[curInterval[1]].getJointPositionGlobal(stanceFoots[0])
step_cur = mm.projectionOnPlane(step_cur, (1,0,0), (0,0,1))
step_tar = mm.projectionOnPlane(step_tar, (1,0,0), (0,0,1))
step_cur_sag, step_cur_cor = mm.projectionOnVector2(step_cur, direction)
step_tar_sag, step_tar_cor = mm.projectionOnVector2(step_tar, direction)
step_length_tar[0] = mm.length(step_tar_sag)
if np.inner(step_tar_sag, step_cur_sag) > 0:
step_length_cur[0] = mm.length(step_cur_sag)
else:
step_length_cur[0] = -mm.length(step_cur_sag)
step_axis[0] = directionAxis
# rd_vec1[0] = step_tar_sag
# rd_vecori1[0] = motion_seg[curInterval[1]].getJointPositionGlobal(stanceFoots[0])
# rd_vec2[0] = step_cur_sag
# rd_vecori2[0] = controlModel.getJointPositionGlobal(stanceFoots[0])
seg_index[0] += 1
curSeg = segments[seg_index[0]]
stl_y_limit_num[0] = 0
stl_xz_limit_num[0] = 0
del motion_seg_orig[frame+1:]
motion_seg_orig.extend(ymb.getAttachedNextMotion(curSeg, motion_seg_orig[-1], False, False))
del motion_seg[frame+1:]
del motion_stitch[frame+1:]
transitionLength = len(curSeg)-1
# motion_seg.extend(ymb.getAttachedNextMotion(curSeg, motion_seg[-1], False, False))
# motion_stitch.extend(ymb.getStitchedNextMotion(curSeg, motion_control[-1], transitionLength, stitch_func, True, False))
d = motion_seg[-1] - curSeg[0]
d.rootPos[1] = 0.
motion_seg.extend(ymb.getAttachedNextMotion(curSeg, d, True, False))
d = motion_control[-1] - curSeg[0]
d.rootPos[1] = 0.
motion_stitch.extend(ymb.getStitchedNextMotion(curSeg, d, transitionLength, stitch_func, True, False))
# motion_seg.extend(ymb.getAttachedNextMotion(curSeg, motion_seg[-1], False, True))
# motion_stitch.extend(ymb.getStitchedNextMotion(curSeg, motion_control[-1], transitionLength, stitch_func, True, True))
else:
motion_seg_orig.append(motion_seg_orig[-1])
motion_seg.append(motion_seg[-1])
motion_stitch.append(motion_control[-1])
# rendering
motionModel.update(motion_ori[frame])
# motionModel.update(motion_seg[frame])
rd_CP[0] = CP
rd_CMP[0] = (CMreal[0] - (F[0]/F[1])*CMreal[1], 0, CMreal[2] - (F[2]/F[1])*CMreal[1])
if plot!=None:
plot.addDataPoint('zero', frame, 0)
plot.updatePoints()
viewer.setSimulateCallback(simulateCallback)
if MULTI_VIEWER:
viewer.startTimer(frameTime / 1.4)
else:
viewer.startTimer(frameTime * .1)
viewer.show()
Fl.run()
def create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
motionName = 'wd2_stand.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
#motionName = 'ww13_41_V001.bvh'
motion = yf.readBvhFile(motionName, .01)
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
#yme.removeJoint(motion, RIGHT_TOES_END, False)
#yme.removeJoint(motion, LEFT_TOES_END, False)
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1, 0, 0), .01), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(2.5, -0.0, .3), -.5),
False)
yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(2.5, 0.0, -.3), -.5),
False)
if MOTION == FORWARD_JUMP:
yme.rotateJointLocal(motion, LEFT_UP_LEG,
mm.exp(mm.v3(0.0, .0, 1.), .08), False)
yme.rotateJointLocal(motion, LEFT_LEG, mm.exp(mm.v3(0.0, 1.0, 0.),
-.2), False)
#yme.offsetJointLocal(motion, LEFT_TOES, (.03,-.05,0), False)
yme.addJoint(motion, RIGHT_FOOT, RIGHT_CALCA)
yme.addJoint(motion, RIGHT_CALCA, 'RIGHT_Dummy')
yme.addJoint(motion, LEFT_FOOT, LEFT_CALCA)
yme.addJoint(motion, LEFT_CALCA, 'LEFT_Dummy')
if 0:
yme.rotateJointLocal(motion, LEFT_TOES, mm.exp(mm.v3(1., 0.0, 0.0),
.2), False)
yme.rotateJointLocal(motion, RIGHT_TOES,
mm.exp(mm.v3(1., 0.0, 0.0), .2), False)
yme.rotateJointLocal(motion, LEFT_CALCA,
mm.exp(mm.v3(1., 0.0, 0.0), .7), False)
yme.rotateJointLocal(motion, RIGHT_CALCA,
mm.exp(mm.v3(1., 0.0, 0.0), .7), False)
else:
yme.rotateJointLocal(motion, LEFT_TOES, mm.exp(mm.v3(1., 0.0, 0.0),
.45), False)
yme.rotateJointLocal(motion, RIGHT_TOES,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_CALCA,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
yme.rotateJointLocal(motion, RIGHT_CALCA,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
## Taekwondo turning-kick
#motion = motion[100:-1]
motion[0:0] = [motion[0]] * 100
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
#node.length = .2 ####
node = mcfg.getNode(RIGHT_FOOT)
node.length = .1
node.width = .2
node.mass = 1.5
node = mcfg.getNode(LEFT_FOOT)
node.length = .1
node.width = .2
node.mass = 1.5
node = mcfg.getNode(LEFT_TOES)
node.length = .1
node.width = .2
node.mass = 1.5
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(RIGHT_TOES)
node.length = .1
node.width = .2
node.mass = 1.5
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(LEFT_CALCA)
node.length = .1
node.width = .2
node.mass = 1.5
node.offset = (0, 0.0, -0.08)
node = mcfg.getNode(RIGHT_CALCA)
node.length = .1
node.width = .2
node.mass = 1.5
node.offset = (0, 0.0, -0.08)
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
'''
config['Kt'] = 200; config['Dt'] = 2*(config['Kt']**.5) # tracking gain
config['Kl'] = 2.5; config['Dl'] = 2*(config['Kl']**.5) # linear balance gain
config['Kh'] = 1; config['Dh'] = 2*(config['Kh']**.5) # angular balance gain
config['Ks'] = 20000; config['Ds'] = 2*(config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 2.5
config['Bh'] = 1.
'''
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
config['weightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2,\
SPINE:.3, SPINE1:.3, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.5,\
RIGHT_UP_LEG:.1, RIGHT_LEG:.3, LEFT_UP_LEG:.1, LEFT_LEG:.3, LEFT_TOES:.1, RIGHT_TOES:.1, LEFT_CALCA:.3, RIGHT_CALCA:.3}
config['IKweightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2,\
SPINE:.3, SPINE1:.3, RIGHT_FOOT:.3, LEFT_FOOT:.3, HIP:.5,\
RIGHT_UP_LEG:.1, RIGHT_LEG:.3, LEFT_UP_LEG:.1, LEFT_LEG:.3}
'''
config['IKweightMap']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2,\
SPINE:0.5, SPINE1:0.5, RIGHT_FOOT:1.2, LEFT_FOOT:1.2, HIP:1.2,\
RIGHT_UP_LEG:.9, RIGHT_LEG:.9, LEFT_UP_LEG:.9, LEFT_LEG:.9}
'''
config['weightMap2']={RIGHT_ARM:.2, RIGHT_FORE_ARM:.2, LEFT_ARM:.2, LEFT_FORE_ARM:.2,\
SPINE:1.5, LEFT_FOOT:1., HIP:1.5,\
RIGHT_UP_LEG:1., RIGHT_LEG:1., LEFT_UP_LEG:1., LEFT_LEG:1., LEFT_TOES:.1, RIGHT_TOES:.1, LEFT_CALCA:.1, RIGHT_CALCA:.1}
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
#config['end'] = 'HIP'
config['end'] = SPINE1
config['const'] = HIP
config['root'] = HIP
config['leftForeFoot'] = LEFT_TOES
config['rightForeFoot'] = RIGHT_TOES
config['leftRearFoot'] = LEFT_CALCA
config['rightRearFoot'] = RIGHT_CALCA
return motion, mcfg, wcfg, stepsPerFrame, config
def test_body_pos_vel_acc_funcs():
# bvhFilePath = '../samples/chain_6.bvh'
# bvhFilePath = '../samples/block_3_rotate.bvh'
bvhFilePath = '../samples/block_tree_rotate.bvh'
motion = yf.readBvhFile(bvhFilePath)
bvhFilePath = '../samples/chain_1.bvh'
motion2 = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
# mcfg.getNode('root').density = 1000000.
mcfg2 = ypc.ModelConfig()
for i in range(motion2[0].skeleton.getElementNum()):
mcfg2.addNode(motion2[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
# wcfg.gravity = (0,0,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
controlModel2 = cvm.VpControlModel(vpWorld, motion2[0], mcfg2)
vpWorld.initialize()
controlModel.fixBody(0)
motionModel.recordVelByFiniteDiff()
controlModel2.setBodyPositionGlobal(0, (0,1,-1))
cm_p = [mm.O_Vec3()]*controlModel.getBodyNum()
cm_v = [mm.O_Vec3()]*controlModel.getBodyNum()
cm_a = [mm.O_Vec3()]*controlModel.getBodyNum()
cm_av = [mm.O_Vec3()]*controlModel.getBodyNum()
cm_aa = [mm.O_Vec3()]*controlModel.getBodyNum()
mm_p = [mm.O_Vec3()]*motionModel.getBodyNum()
mm_v = [mm.O_Vec3()]*motionModel.getBodyNum()
mm_a = [mm.O_Vec3()]*motionModel.getBodyNum()
mm_av = [mm.O_Vec3()]*motionModel.getBodyNum()
mm_aa = [mm.O_Vec3()]*motionModel.getBodyNum()
viewer = ysv.SimpleViewer()
viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('controlModel', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(motionModel, (100,100,100), yr.POLYGON_LINE))
viewer.doc.addRenderer('controlModel2', cvr.VpModelRenderer(controlModel2, (255,240,255), yr.POLYGON_LINE))
# viewer.doc.addRenderer('cm_p', yr.PointsRenderer(cm_p, (0,0,255)))
viewer.doc.addRenderer('cm_v', yr.VectorsRenderer(cm_v, cm_p, (255,0,0)))
# viewer.doc.addRenderer('cm_a', yr.VectorsRenderer(cm_a, cm_p, (0,255,0)))
# viewer.doc.addRenderer('cm_av', yr.VectorsRenderer(cm_av, cm_p, (255,255,0)))
# viewer.doc.addRenderer('cm_aa', yr.VectorsRenderer(cm_aa, cm_p, (0,255,255)))
# viewer.doc.addRenderer('mm_p', yr.PointsRenderer(mm_p, (200,200,0)))
viewer.doc.addRenderer('mm_v', yr.VectorsRenderer(mm_v, mm_p, (200,200,0)))
# viewer.doc.addRenderer('mm_a', yr.VectorsRenderer(mm_a, mm_p, (200,200,0)))
# viewer.doc.addRenderer('mm_av', yr.VectorsRenderer(mm_av, mm_p, (0,200,0)))
controlModel.applyBodyTorqueGlobal(1, (0,0,200))
controlModel2.applyBodyTorqueGlobal(0, (0,0,200))
def simulateCallback(frame):
for i in range(stepsPerFrame):
vpWorld.step()
motionModel.update(motion[frame])
# controlModel.applyBodyTorqueGlobal(1, (0,0,10))
# controlModel2.applyBodyTorqueGlobal(0, (0,0,10))
cm_p[:] = controlModel.getBodyPositionsGlobal() + controlModel2.getBodyPositionsGlobal()
cm_v[:] = controlModel.getBodyVelocitiesGlobal() + controlModel2.getBodyVelocitiesGlobal()
# cm_p.append(controlModel.getBodyPositionGlobal(1, (0,0,.25)))
# cm_v.append(controlModel.getBodyVelocityGlobal(1, (0,0,.25)))
# cm_p.append(controlModel.getBodyPositionGlobal(1, (0,0,-.25)))
# cm_v.append(controlModel.getBodyVelocityGlobal(1, (0,0,-.25)))
cm_a[:] = controlModel.getBodyAccelerationsGlobal() + controlModel2.getBodyAccelerationsGlobal()
cm_av[:] = controlModel.getBodyAngVelocitiesGlobal() + controlModel2.getBodyAngVelocitiesGlobal()
cm_aa[:] = controlModel.getBodyAngAccelerationsGlobal() + controlModel2.getBodyAngAccelerationsGlobal()
mm_p[:] = motionModel.getBodyPositionsGlobal()
mm_v[:] = motionModel.getBodyVelocitiesGlobal()
mm_av[:] = motionModel.getBodyAngVelocitiesGlobal()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def create_biped():
# motion
#motionName = 'wd2_n_kick.bvh'
if MOTION == STAND:
motionName = 'wd2_stand.bvh'
elif MOTION == FORWARD_JUMP:
motionName = 'woddy2_jump0.bvh'
elif MOTION == TAEKWONDO:
motionName = './MotionFile/wd2_098_V001.bvh'
#motionName = 'ww13_41_V001.bvh'
motion = yf.readBvhFile(motionName, .01)
yme.removeJoint(motion, HEAD, False)
yme.removeJoint(motion, RIGHT_SHOULDER, False)
yme.removeJoint(motion, LEFT_SHOULDER, False)
if FOOT_PART_NUM == 1:
yme.removeJoint(motion, RIGHT_TOES_END, False)
yme.removeJoint(motion, LEFT_TOES_END, False)
yme.removeJoint(motion, RIGHT_HAND_END, False)
yme.removeJoint(motion, LEFT_HAND_END, False)
yme.offsetJointLocal(motion, RIGHT_ARM, (.03, -.05, 0), False)
yme.offsetJointLocal(motion, LEFT_ARM, (-.03, -.05, 0), False)
yme.rotateJointLocal(motion, HIP, mm.exp(mm.v3(1, 0, 0), .01), False)
yme.rotateJointLocal(motion, LEFT_FOOT, mm.exp(mm.v3(2.5, -0.0, .3), -.5),
False)
yme.rotateJointLocal(motion, RIGHT_FOOT, mm.exp(mm.v3(2.5, 0.0, -.3), -.5),
False)
if MOTION == FORWARD_JUMP:
yme.rotateJointLocal(motion, LEFT_UP_LEG,
mm.exp(mm.v3(0.0, .0, 1.), .08), False)
yme.rotateJointLocal(motion, LEFT_LEG, mm.exp(mm.v3(0.0, 1.0, 0.),
-.2), False)
if FOOT_PART_NUM > 1:
yme.addJoint(motion, RIGHT_FOOT, RIGHT_TARSUS)
yme.addJoint(motion, RIGHT_TARSUS, 'RIGHT_Dummy1')
yme.addJoint(motion, LEFT_FOOT, LEFT_TARSUS)
yme.addJoint(motion, LEFT_TARSUS, 'LEFT_Dummy1')
yme.rotateJointLocal(motion, LEFT_TOES, mm.exp(mm.v3(1., 0.0, 0.0),
.45), False)
yme.rotateJointLocal(motion, RIGHT_TOES,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_TARSUS,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
yme.rotateJointLocal(motion, RIGHT_TARSUS,
mm.exp(mm.v3(1., 0.0, 0.0), .52), False)
if FOOT_PART_NUM == 5:
yme.addJoint(motion, LEFT_FOOT, LEFT_FOOT_SIDE_L)
yme.addJoint(motion, LEFT_FOOT_SIDE_L, 'LEFT_Dummy2')
yme.addJoint(motion, LEFT_FOOT, LEFT_FOOT_SIDE_R)
yme.addJoint(motion, LEFT_FOOT_SIDE_R, 'LEFT_Dummy2')
yme.addJoint(motion, RIGHT_FOOT, RIGHT_FOOT_SIDE_L)
yme.addJoint(motion, RIGHT_FOOT_SIDE_L, 'RIGHT_Dummy2')
yme.addJoint(motion, RIGHT_FOOT, RIGHT_FOOT_SIDE_R)
yme.addJoint(motion, RIGHT_FOOT_SIDE_R, 'RIGHT_Dummy2')
yme.rotateJointLocal(motion, LEFT_FOOT_SIDE_L,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, LEFT_FOOT_SIDE_R,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_FOOT_SIDE_L,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.rotateJointLocal(motion, RIGHT_FOOT_SIDE_R,
mm.exp(mm.v3(1., 0.0, 0.0), .45), False)
yme.updateGlobalT(motion)
################
if MOTION == FORWARD_JUMP:
motion = motion[515:555]
elif MOTION == TAEKWONDO:
## Taekwondo base-step
motion = motion[0:31]
#motion = motion[564:600]
## Taekwondo turning-kick
#motion = motion[108:-1]
#motion = motion[108:109]
motion[0:0] = [motion[0]] * 100
motion.extend([motion[-1]] * 5000)
# world, model
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .9
for name in massMap:
node = mcfg.addNode(name)
node.mass = massMap[name]
node = mcfg.getNode(HIP)
node.length = .2
node.width = .25
node = mcfg.getNode(SPINE1)
node.length = .2
node.offset = (0, 0, 0.1)
node = mcfg.getNode(SPINE)
node.width = .22
#node.length = .2 ####
if FOOT_PART_NUM == 1:
length1 = .25
width1 = .2
mass1 = 4.
elif FOOT_PART_NUM == 3:
length1 = .1
width1 = .2
mass1 = 1.5
length2 = .1
width2 = .2
mass2 = 1.5
elif FOOT_PART_NUM == 5:
length1 = .1
width1 = .065
mass1 = .5
length2 = .1
width2 = .2
mass2 = 1.5
node = mcfg.getNode(RIGHT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
node = mcfg.getNode(LEFT_FOOT)
node.length = length1
node.width = width1
node.mass = mass1
if FOOT_PART_NUM == 5:
node = mcfg.getNode(LEFT_FOOT_SIDE_L)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0.07, 0.0, 0.015)
node = mcfg.getNode(LEFT_FOOT_SIDE_R)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (-0.07, 0.0, 0.015)
node = mcfg.getNode(RIGHT_FOOT_SIDE_L)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (0.07, 0.0, 0.015)
node = mcfg.getNode(RIGHT_FOOT_SIDE_R)
node.length = length1
node.width = width1
node.mass = mass1
node.offset = (-0.07, 0.0, 0.015)
if FOOT_PART_NUM > 1:
node = mcfg.getNode(LEFT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(RIGHT_TOES)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.02)
node = mcfg.getNode(LEFT_TARSUS)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.08)
node = mcfg.getNode(RIGHT_TARSUS)
node.length = length2
node.width = width2
node.mass = mass2
node.offset = (0, 0.0, -0.08)
wcfg = ypc.WorldConfig()
wcfg.planeHeight = 0.
wcfg.useDefaultContactModel = False
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / (stepsPerFrame)
#stepsPerFrame = 10
#wcfg.timeStep = (1/120.)/(stepsPerFrame)
#wcfg.timeStep = (1/1800.)
# parameter
config = {}
config['Kt'] = 200
config['Dt'] = 2 * (config['Kt']**.5) # tracking gain
config['Kl'] = .10
config['Dl'] = 2 * (config['Kl']**.5) # linear balance gain
config['Kh'] = 0.1
config['Dh'] = 2 * (config['Kh']**.5) # angular balance gain
config['Ks'] = 20000
config['Ds'] = 2 * (config['Ks']**.5) # penalty force spring gain
config['Bt'] = 1.
config['Bl'] = 1. #0.5
config['Bh'] = 1.
if FOOT_PART_NUM == 1:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 1.,
LEFT_FOOT: 1.,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.
}
elif FOOT_PART_NUM == 3:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .3,
RIGHT_LEG: .3,
LEFT_UP_LEG: .3,
LEFT_LEG: .3,
LEFT_TOES: .3,
RIGHT_TOES: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_TOES: .3,
RIGHT_TOES: .3
}
elif FOOT_PART_NUM == 5:
config['weightMap'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: .3,
SPINE1: .3,
RIGHT_FOOT: .3,
LEFT_FOOT: .3,
HIP: .5,
RIGHT_UP_LEG: .1,
RIGHT_LEG: .3,
LEFT_UP_LEG: .1,
LEFT_LEG: .3,
LEFT_TOES: .3,
RIGHT_TOES: .3,
LEFT_TARSUS: .3,
RIGHT_TARSUS: .3,
LEFT_FOOT_SIDE_L: .3,
LEFT_FOOT_SIDE_R: .3,
RIGHT_FOOT_SIDE_L: .3,
RIGHT_FOOT_SIDE_R: .3
}
config['weightMap2'] = {
RIGHT_ARM: .2,
RIGHT_FORE_ARM: .2,
LEFT_ARM: .2,
LEFT_FORE_ARM: .2,
SPINE: 1.,
SPINE1: .3,
RIGHT_FOOT: 2.5,
LEFT_FOOT: 2.5,
HIP: 1.,
RIGHT_UP_LEG: 1.,
RIGHT_LEG: 1.,
LEFT_UP_LEG: 1.,
LEFT_LEG: 1.,
LEFT_TOES: .3,
RIGHT_TOES: .3,
LEFT_TARSUS: .3,
RIGHT_TARSUS: .3,
LEFT_FOOT_SIDE_L: .3,
LEFT_FOOT_SIDE_R: .3,
RIGHT_FOOT_SIDE_L: .3,
RIGHT_FOOT_SIDE_R: .3
}
config['supLink'] = LEFT_FOOT
config['supLink2'] = RIGHT_FOOT
#config['end'] = 'HIP'
config['end'] = SPINE1
config['const'] = HIP
config['root'] = HIP
config['FootPartNum'] = FOOT_PART_NUM
config['FootLPart'] = [
LEFT_FOOT, LEFT_TOES, LEFT_TARSUS, LEFT_FOOT_SIDE_L, LEFT_FOOT_SIDE_R
]
config['FootRPart'] = [
RIGHT_FOOT, RIGHT_TOES, RIGHT_TARSUS, RIGHT_FOOT_SIDE_L,
RIGHT_FOOT_SIDE_R
]
return motion, mcfg, wcfg, stepsPerFrame, config
def test_momentum_matrix():
np.set_printoptions(precision=2, linewidth=200)
# bvhFilePath = '../samples/chain_1_long.bvh'
bvhFilePath = '../samples/chain_3_rotate.bvh'
motion1 = yf.readBvhFile(bvhFilePath)
mcfg1 = ypc.ModelConfig()
mcfg1.defaultDensity = 1000.
mcfg1.defaultBoneRatio = 1.
for i in range(motion1[0].skeleton.getElementNum()):
mcfg1.addNode(motion1[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
wcfg.gravity = (0, 0, 0)
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
m1 = cvm.VpControlModel(vpWorld, motion1[0], mcfg1)
vpWorld.initialize()
# momentum matrix information
masses = m1.getBodyMasses()
totalMass = m1.getTotalMass()
TO = make_TO(masses)
v_sol = ype.makeNestedList([6] * m1.getBodyNum())
# jacobian for internal joints
DOFs_internal = m1.getInternalJointDOFs()
totalDOF_internal = m1.getTotalInternalJointDOF()
J_internal = yjc.makeEmptyJacobian(DOFs_internal, m1.getBodyNum())
linkJointMasks_internal = yjc.getAllLinkInternalJointMasks(
motion1[0].skeleton)
dth_flat_internal = ype.makeFlatList(totalDOF_internal)
# momentum matrix for all joints
DOFs_all = m1.getDOFs()
totalDOF_all = m1.getTotalDOF()
J_all = yjc.makeEmptyJacobian(DOFs_all, m1.getBodyNum())
linkJointMasks_all = yjc.getAllLinkJointMasks(motion1[0].skeleton)
dth_flat_all = ype.makeFlatList(totalDOF_all)
p = []
v = []
rd_CM = []
rd_L_std = []
rd_L_jacob_internal = []
rd_L_jacob_all = []
rd_H_std = []
rd_H_jacob_internal = []
rd_H_jacob_all = []
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'model', cvr.VpModelRenderer(m1, (255, 240, 255), yr.POLYGON_LINE))
# viewer.doc.addRenderer('v', yr.VectorsRenderer(v, p, (0,255,0)))
viewer.doc.addRenderer(
'L_std', yr.VectorsRenderer(rd_L_std, rd_CM, (255, 0, 0)))
# viewer.doc.addRenderer('L_jacob_internal', yr.VectorsRenderer(rd_L_jacob_internal, rd_CM, (0,255,0)))
viewer.doc.addRenderer(
'L_jacob_all',
yr.VectorsRenderer(rd_L_jacob_all, rd_CM, (255, 255, 0)))
viewer.doc.addRenderer(
'H_std', yr.VectorsRenderer(rd_H_std, rd_CM, (255, 0, 0)))
# viewer.doc.addRenderer('H_jacob_internal', yr.VectorsRenderer(rd_H_jacob_internal, rd_CM, (0,255,0)))
viewer.doc.addRenderer(
'H_jacob_all',
yr.VectorsRenderer(rd_H_jacob_all, rd_CM, (255, 255, 0)))
viewer.setMaxFrame(100)
# force
m1.applyBodyTorqueGlobal(0, (0, 0, 1000))
m1.applyBodyForceGlobal(0, (1000, 0, 0))
m1.applyBodyTorqueGlobal(0, (0, 1000, 0))
def simulateCallback(frame):
for i in range(stepsPerFrame):
vpWorld.step()
#===============================================================================
# momentum calculation by standard method
#===============================================================================
velocities = m1.getBodyVelocitiesGlobal()
positions = m1.getBodyPositionsGlobal()
CM = yrp.getCM(positions, masses, totalMass)
inertias = m1.getBodyInertiasGlobal()
angVelocities = m1.getBodyAngVelocitiesGlobal()
L_std = getLinearMomentum(masses, velocities)
H_std = getAngularMomentum(CM, inertias, angVelocities, positions,
masses, velocities)
#===============================================================================
# momentum calculation by centroidal momentum matrix
#===============================================================================
P = getPureInertiaMatrix(TO, masses, positions, CM, inertias)
# momentum matrix for internal joints and addition of total momentum about CM
# jointPositions_internal = m1.getInternalJointPositionsGlobal()
#
# Rs = m1.getInternalJointOrientationsGlobal()
# jointAxeses_internal = [Rs[i].transpose() for i in range(0,len(Rs))]
#
# yjc.computeJacobian2(J_internal, DOFs_internal, jointPositions_internal, jointAxeses_internal, positions, linkJointMasks_internal)
#
# dth = m1.getInternalJointAngVelocitiesLocal()
# ype.flatten(dth, dth_flat_internal)
#
# PJ_internal = np.dot(P, J_internal)
# LH_internal = np.dot(PJ_internal, dth_flat_internal)
# L2_jacob_internal, H2_jacob_internal = np.hsplit(LH_internal, 2)
#
# p_root = m1.getBodyPositionGlobal(0)
# v_root = m1.getBodyVelocityGlobal(0)
# w_root = m1.getBodyAngVelocityGlobal(0)
#
# L_jacob_internal = mm.v3(0.,0.,0.)
# L_jacob_internal += (totalMass * v_root)
# L_jacob_internal += (-totalMass * np.cross( (CM - p_root), w_root))
#
L_jacob_internal = None
H_jacob_internal = None
# momentum matrix for all joints
jointPositions_all = m1.getJointPositionsGlobal()
jointAxeses_all = m1.getDOFAxeses()
yjc.computeJacobian2(J_all, DOFs_all, jointPositions_all,
jointAxeses_all, positions,
linkJointMasks_all)
dth = m1.getDOFVelocities()
ype.flatten(dth, dth_flat_all)
PJ_all = np.dot(P, J_all)
LH_all = np.dot(PJ_all, dth_flat_all)
L_jacob_all, H_jacob_all = np.hsplit(LH_all, 2)
#===============================================================================
# for rendering
#===============================================================================
p[:] = positions
v[:] = velocities
rd_CM[:] = [CM]
rd_L_std[:] = [L_std]
rd_L_jacob_internal[:] = [L_jacob_internal]
rd_L_jacob_all[:] = [L_jacob_all]
rd_H_std[:] = [H_std]
rd_H_jacob_internal[:] = [H_jacob_internal]
rd_H_jacob_all[:] = [H_jacob_all]
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_getDesiredAngAccelerations():
# motion = yf.readBvhFile('block_3_rotate.bvh', 1)
motion = yf.readBvhFile('../samples/block_tree_rotate.bvh', 1)
motion = motion[0:]
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
wcfg.gravity = (0, 0, 0)
stepsPerFrame = 30
wcfg.timeStep = (1 / 30.) / stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
motionModel = cvm.VpMotionModel(vpWorld, motion[0], mcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics()
controlModel.fixBody(0)
p = []
ddth_des = []
viewer = ysv.SimpleViewer()
# viewer.record(False)
viewer.doc.addRenderer(
'motion',
yr.JointMotionRenderer(motion, (0, 255, 255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer(
'motionModel',
cvr.VpModelRenderer(motionModel, (255, 240, 255), yr.POLYGON_LINE))
viewer.doc.addRenderer(
'controlModel',
cvr.VpModelRenderer(controlModel, (255, 240, 255),
yr.POLYGON_FILL))
viewer.doc.addRenderer('ddth_des',
yr.VectorsRenderer(ddth_des, p, (255, 0, 0)))
def simulateCallback(frame):
th_r = motion.getInternalJointOrientationsLocal(frame)
th = controlModel.getInternalJointOrientationsLocal()
dth_r = motion.getInternalJointAngVelocitiesLocal(frame)
dth = controlModel.getInternalJointAngVelocitiesLocal()
ddth_r = motion.getInternalJointAngAccelerationsLocal(frame)
ddth_des[:] = getDesiredAngAccelerations(th_r, th, dth_r, dth,
ddth_r, 1, 1)
for i in range(stepsPerFrame):
controlModel.setInternalJointAngAccelerationsLocal(ddth_des)
controlModel.solveHybridDynamics()
vpWorld.step()
motionModel.update(motion[frame])
p[:] = motion.getInternalJointPositionsGlobal(frame)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_joint_pos_vel_acc_funcs_and_tracking():
def getDesiredAngAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt):
ddth_des = [None]*len(th_r)
for i in range(len(th_r)):
ddth_des[i] = Kt*(mm.logSO3(np.dot(th[i].transpose(), th_r[i]))) + Dt*(dth_r[i] - dth[i]) + ddth_r[i]
return ddth_des
def getDesiredAcceleration(p_r, p, v_r, v, a_r, Kt, Dt):
return Kt*(p_r - p) + Dt*(v_r - v) + a_r
# bvhFilePath = '../samples/chain_1.bvh'
# bvhFilePath = '../samples/block_tree_rotate.bvh'
bvhFilePath = '../samples/chain_3_rotate_freely_move.bvh'
# bvhFilePath = '../samples/chain_3_rotate_freely.bvh'
# bvhFilePath = '../samples/chain_3_rotate_freely_expt_root.bvh'
# bvhFilePath = '../samples/chain_3_rotate.bvh'
# bvhFilePath = '../samples/chain_3_rotate_expt_root.bvh'
# bvhFilePath = '../samples/chain_6_rotate_expt_root.bvh'
# bvhFilePath = '../samples/chain_2_rotate_2axes.bvh'
motion = yf.readBvhFile(bvhFilePath)
mcfg = ypc.ModelConfig()
mcfg.defaultDensity = 1000.
mcfg.defaultBoneRatio = .8
for i in range(motion[0].skeleton.getElementNum()):
mcfg.addNode(motion[0].skeleton.getElementName(i))
wcfg = ypc.WorldConfig()
wcfg.planeHeight = -1.
wcfg.gravity = (0,0,0)
stepsPerFrame = 30
wcfg.timeStep = (1/30.)/stepsPerFrame
vpWorld = cvw.VpWorld(wcfg)
controlModel = cvm.VpControlModel(vpWorld, motion[0], mcfg)
vpWorld.initialize()
controlModel.initializeHybridDynamics(False)
# controlModel.fixBody(0)
controlModel.rotate(mm.exp(mm.v3(0,1,0)))
print controlModel
motion_p = []; motion_v = []; motion_a = []
motion_ap = []; motion_av = []; motion_aa = []
motion_ap_local = []; motion_av_local = []; motion_aa_local = []
model_p = []; model_v = []; model_a = []
model_ap = []; model_av = []; model_aa = []
model_ap_local = []; model_av_local = []; model_aa_local = []
model_body_p = []; model_body_a = []
prev_model_v = [(0.,0.,0.)]*controlModel.getJointNum()
prev_model_av = [(0.,0.,0.)]*controlModel.getJointNum()
prev_model_av_local = [(0.,0.,0.)]*controlModel.getJointNum()
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_WIREBOX))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cvr.VpModelRenderer(controlModel, (255,240,255), yr.POLYGON_LINE))
# viewer.doc.addRenderer('motion_p', yr.PointsRenderer(motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_p', yr.PointsRenderer(model_p, (0,255,0)))
#
# viewer.doc.addRenderer('motion_v', yr.VectorsRenderer(motion_v, motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_v', yr.VectorsRenderer(model_v, model_p, (0,255,0)))
viewer.doc.addRenderer('motion_a', yr.VectorsRenderer(motion_a, motion_p, (255,0,0)))
viewer.doc.addRenderer('model_a', yr.VectorsRenderer(model_a, model_p, (0,255,0)))
# viewer.doc.addRenderer('model_body_a', yr.VectorsRenderer(model_body_a, model_body_p, (255,255,0)))
# viewer.doc.addRenderer('motion_ap', yr.OrientationsRenderer(motion_ap, motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_ap', yr.OrientationsRenderer(model_ap, model_p, (0,255,0)))
# viewer.doc.addRenderer('motion_ap_local', yr.OrientationsRenderer(motion_ap_local, motion_p, (255,100,100)))
# viewer.doc.addRenderer('model_ap_local', yr.OrientationsRenderer(model_ap_local, model_p, (100,255,100)))
# viewer.doc.addRenderer('motion_av', yr.VectorsRenderer(motion_av, motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_av', yr.VectorsRenderer(model_av, model_p, (0,255,0)))
# viewer.doc.addRenderer('motion_av_local', yr.VectorsRenderer(motion_av_local, motion_p, (255,100,100)))
# viewer.doc.addRenderer('model_av_local', yr.VectorsRenderer(model_av_local, model_p, (100,255,100)))
# viewer.doc.addRenderer('motion_aa', yr.VectorsRenderer(motion_aa, motion_p, (255,0,0)))
# viewer.doc.addRenderer('model_aa', yr.VectorsRenderer(model_aa, model_p, (0,255,0)))
# viewer.doc.addRenderer('motion_aa_local', yr.VectorsRenderer(motion_aa_local, motion_p, (255,100,100)))
# viewer.doc.addRenderer('model_aa_local', yr.VectorsRenderer(model_aa_local, model_p, (100,255,100)))
Kt = 200; Dt = 2*(Kt**.5)
def simulateCallback(frame):
th_r = motion.getJointOrientationsLocal(frame)
th = controlModel.getJointOrientationsLocal()
dth_r = motion.getJointAngVelocitiesLocal(frame)
dth = controlModel.getJointAngVelocitiesLocal()
ddth_r = motion.getJointAngAccelerationsLocal(frame)
ddth_des = getDesiredAngAccelerations(th_r, th, dth_r, dth, ddth_r, Kt, Dt)
p_r = motion.getJointPositionGlobal(0, frame)
p = controlModel.getJointPositionGlobal(0)
v_r = motion.getJointVelocityGlobal(0, frame)
v = controlModel.getJointVelocityGlobal(0)
a_r = motion.getJointAccelerationGlobal(0, frame)
a_des = getDesiredAcceleration(p_r, p, v_r, v, a_r, Kt, Dt)
th_r0 = motion.getJointOrientationGlobal(0, frame)
th0 = controlModel.getJointOrientationGlobal(0)
dth_r0 = motion.getJointAngVelocityGlobal(0, frame)
dth0 = controlModel.getJointAngVelocityGlobal(0)
ddth_r0 = motion.getJointAngAccelerationGlobal(0, frame)
ddth_des0 = getDesiredAngAccelerations([th_r0], [th0], [dth_r0], [dth0], [ddth_r0], Kt, Dt)[0]
for i in range(stepsPerFrame):
# controlModel.setBodyAccelerationGlobal(0, a_des)
# controlModel.setJointAngAccelerationsLocal(ddth_des)
controlModel.setJointAccelerationGlobal(0, a_des)
controlModel.setJointAngAccelerationGlobal(0, ddth_des0)
controlModel.setInternalJointAngAccelerationsLocal(ddth_des[1:])
controlModel.solveHybridDynamics()
vpWorld.step()
motion_p[:] = motion.getJointPositionsGlobal(frame)
motion_v[:] = motion.getJointVelocitiesGlobal(frame)
motion_a[:] = motion.getJointAccelerationsGlobal(frame)
motion_ap[:] = motion.getJointOrientationsGlobal(frame)
motion_av[:] = motion.getJointAngVelocitiesGlobal(frame)
motion_aa[:] = motion.getJointAngAccelerationsGlobal(frame)
motion_ap_local[:] = motion.getJointOrientationsLocal(frame)
motion_av_local[:] = motion.getJointAngVelocitiesLocal(frame)
motion_aa_local[:] = motion.getJointAngAccelerationsLocal(frame)
model_p[:] = controlModel.getJointPositionsGlobal()
model_v[:] = controlModel.getJointVelocitiesGlobal()
# model_a[:] = controlModel.getJointAccelerationsGlobal()
model_a[:] = map(lambda v1,v0: (v1-v0)/(1/30.), model_v, prev_model_v)
prev_model_v[:] = model_v
model_ap[:] = controlModel.getJointOrientationsGlobal()
model_av[:] = controlModel.getJointAngVelocitiesGlobal()
# model_aa[:] = controlModel.getJointAngAccelerationsGlobal()
model_aa[:] = map(lambda v1,v0: (v1-v0)/(1/30.), model_av, prev_model_av)
prev_model_av[:] = model_av
model_ap_local[:] = controlModel.getJointOrientationsLocal()
model_av_local[:] = controlModel.getJointAngVelocitiesLocal()
# model_aa_local[:] = controlModel.getJointAngAccelerationsLocal()
model_aa_local[:] = map(lambda v1,v0: (v1-v0)/(1/30.), model_av_local, prev_model_av_local)
prev_model_av_local[:] = model_av_local
model_body_p[:] = controlModel.getBodyPositionsGlobal()
model_body_a[:] = controlModel.getBodyAccelerationsGlobal()
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()