def state(self):
p_pelvis = self.skel.getBodyPositionGlobal(0)
R_pelvis = self.skel.getBodyOrientationGlobal(0)
phase = min(1., (self.world.GetSimulationTime() + self.time_offset) /
self.motion_time)
state = [phase]
self.skel.getBodyPositionsGlobal()
p = np.array([
np.dot(R_pelvis.T, body_pos - p_pelvis)
for body_pos in self.skel.getBodyPositionsGlobal()
]).flatten()
R = np.array([
mm.rot2quat(np.dot(R_pelvis.T, body_ori))
for body_ori in self.skel.getBodyOrientationsGlobal()
]).flatten()
v = np.array([
np.dot(R_pelvis.T, body_vel)
for body_vel in self.skel.getBodyVelocitiesGlobal()
]).flatten()
w = np.array([
np.dot(R_pelvis.T, body_angvel) / 20.
for body_angvel in self.skel.getBodyAngVelocitiesGlobal()
]).flatten()
state.extend(p)
state.extend(R)
state.extend(v)
state.extend(w)
return np.asarray(state).flatten()
def state(self):
pelvis = self.skel.body(0)
p_pelvis = pelvis.world_transform()[:3, 3]
R_pelvis = pelvis.world_transform()[:3, :3]
phase = min(1.,
(self.world.time() + self.time_offset) / self.motion_time)
state = [phase]
p = np.array([
np.dot(R_pelvis.T,
body.to_world() - p_pelvis) for body in self.skel.bodynodes
]).flatten()
R = np.array([
mm.rot2quat(np.dot(R_pelvis.T,
body.world_transform()[:3, :3]))
for body in self.skel.bodynodes
]).flatten()
v = np.array([
np.dot(R_pelvis.T, body.world_linear_velocity())
for body in self.skel.bodynodes
]).flatten()
w = np.array([
np.dot(R_pelvis.T, body.world_angular_velocity()) / 20.
for body in self.skel.bodynodes
]).flatten()
state.extend(p)
state.extend(R)
state.extend(v)
state.extend(w)
return np.asarray(state).flatten()
def state(self):
pelvis = self.skel.body(0)
p_pelvis = pelvis.world_transform()[:3, 3]
R_pelvis = pelvis.world_transform()[:3, :3]
phase = min(1., (self.world.time() + self.time_offset)/self.motion_time)
if self.env_name == 'walk_repeated':
if self.phase_frame <= 156:
phase = self.phase_frame / 156.
else:
phase = ((self.phase_frame - 113) % 43 + 113)/156.
state = [phase]
p = np.array([np.dot(R_pelvis.T, body.to_world() - p_pelvis) for body in self.skel.bodynodes]).flatten()
R = np.array([mm.rot2quat(np.dot(R_pelvis.T, body.world_transform()[:3, :3])) for body in self.skel.bodynodes]).flatten()
v = np.array([np.dot(R_pelvis.T, body.world_linear_velocity()) for body in self.skel.bodynodes]).flatten()
w = np.array([np.dot(R_pelvis.T, body.world_angular_velocity())/20. for body in self.skel.bodynodes]).flatten()
state.extend(p)
state.extend(R)
state.extend(v)
state.extend(w)
return np.asarray(state).flatten()
def state(self):
state = [self.goal[0], self.goal[1]]
pelvis = self.skel.body(0)
p_pelvis = pelvis.world_transform()[:3, 3]
R_pelvis = pelvis.world_transform()[:3, :3]
ref_pelvis = self.ref_skel.body(0)
ref_p_pelvis = ref_pelvis.world_transform()[:3, 3]
ref_R_pelvis = ref_pelvis.world_transform()[:3, :3]
# deep mimic style
p = np.array([np.dot(R_pelvis.T, body.to_world() - p_pelvis) for body in self.skel.bodynodes]).flatten()
R = np.array([mm.rot2quat(np.dot(R_pelvis.T, body.world_transform()[:3, :3])) for body in self.skel.bodynodes]).flatten()
v = np.array([np.dot(R_pelvis.T, body.world_linear_velocity()) for body in self.skel.bodynodes]).flatten()
w = np.array([np.dot(R_pelvis.T, body.world_angular_velocity())/20. for body in self.skel.bodynodes]).flatten()
ref_p = np.array([np.dot(ref_R_pelvis.T, body.to_world() - ref_p_pelvis) for body in self.ref_skel.bodynodes]).flatten()
ref_R = np.array([mm.rot2quat(np.dot(ref_R_pelvis.T, body.world_transform()[:3, :3])) for body in self.ref_skel.bodynodes]).flatten()
state.extend(p)
state.extend(R)
state.extend(v)
state.extend(w)
state.extend(ref_p)
state.extend(ref_R)
# soohwan style
# p = 0.8 * np.array([np.dot(R_pelvis.T, body.to_world() - p_pelvis) for body in self.skel.bodynodes]).flatten()
# v = 0.2 * np.array([np.dot(R_pelvis.T, body.world_linear_velocity()) for body in self.skel.bodynodes]).flatten()
# _R = 2. * self.skel.positions()
# _w = .2 * self.skel.velocities()
# R = np.append(_R[:3], _R[6:]).flatten()
# w = np.append(_w[:3], _w[6:]).flatten()
# _ref_R = 2. * self.prev_ref_q
# ref_R = np.append(_ref_R[:3], _ref_R[6:]).flatten()
# state.extend(p)
# state.extend(R)
# state.extend(v)
# state.extend(w)
# state.extend(ref_R)
return np.asarray(state).flatten()
def state(self):
pelvis = self.skel.body(0)
p_pelvis = pelvis.world_transform()[:3, 3]
R_pelvis = pelvis.world_transform()[:3, :3]
phase = min(1.,
(self.world.time() + self.time_offset) / self.motion_time)
state = [
0. if len(self.ref_motions) == 1 else self.specified_motion_num /
(len(self.ref_motions) - 1), phase
]
p = np.array([
np.dot(R_pelvis.T,
body.to_world() - p_pelvis) for body in self.skel.bodynodes
]).flatten()
R = np.array([
mm.rot2quat(np.dot(R_pelvis.T,
body.world_transform()[:3, :3]))
for body in self.skel.bodynodes
]).flatten()
v = np.array([
np.dot(R_pelvis.T, body.world_linear_velocity())
for body in self.skel.bodynodes
]).flatten()
w = np.array([
np.dot(R_pelvis.T, body.world_angular_velocity()) / 20.
for body in self.skel.bodynodes
]).flatten()
state.extend(p)
state.extend(R)
state.extend(v)
state.extend(w)
# print('p', np.linalg.norm(p))
# print('R', np.linalg.norm(R))
# print('v', np.linalg.norm(v))
# print('w', np.linalg.norm(w))
return np.asarray(state).flatten()
def state(self):
pelvis = self.skel.body(0)
p_pelvis = pelvis.world_transform()[:3, 3]
R_pelvis = pelvis.world_transform()[:3, :3]
state = []
state.extend(np.asarray(self.goals).flatten())
p = np.array([np.dot(R_pelvis.T, body.to_world() - p_pelvis) for body in self.skel.bodynodes]).flatten()
R = np.array([mm.rot2quat(np.dot(R_pelvis.T, body.world_transform()[:3, :3])) for body in self.skel.bodynodes]).flatten()
v = np.array([np.dot(R_pelvis.T, body.world_linear_velocity()) for body in self.skel.bodynodes]).flatten()
w = np.array([np.dot(R_pelvis.T, body.world_angular_velocity())/20. for body in self.skel.bodynodes]).flatten()
state.extend(p)
state.extend(R)
state.extend(v)
state.extend(w)
# print('p', np.linalg.norm(p))
# print('R', np.linalg.norm(R))
# print('v', np.linalg.norm(v))
# print('w', np.linalg.norm(w))
return np.asarray(state).flatten()
def state(self):
p_pelvis = self.skel.body(0).world_transform()[:3, 3]
R_pelvis = self.skel.body(0).world_transform()[:3, :3]
phase = (self.world.time() + self.time_offset) / self.total_time
state = [phase]
p = np.array([
self.skel.body(i).to_world() - p_pelvis
for i in range(self.body_num)
]).flatten()
# R = [mm.logSO3(np.dot(R_pelvis.T, self.skel.body(i).world_transform()[:3, :3]))/pi for i in range(self.body_num)]
R = np.array([
mm.rot2quat(
np.dot(R_pelvis.T,
self.skel.body(i).world_transform()[:3, :3]))
for i in range(self.body_num)
]).flatten()
v = np.array([
self.skel.body(i).world_linear_velocity()
for i in range(self.body_num)
]).flatten()
w = np.array([
self.skel.body(i).world_angular_velocity() / 20.
for i in range(self.body_num)
]).flatten()
state.extend(p)
state.extend(R)
state.extend(v)
state.extend(w)
# print('p', np.linalg.norm(p))
# print('R', np.linalg.norm(R))
# print('v', np.linalg.norm(v))
# print('w', np.linalg.norm(w))
return np.asarray(state).flatten()