def offsetSliderHandler(slider, event):
"""
:type slider: Fl_Hor_Value_Slider | Fl_Roller
:return:
"""
if event == FL_RELEASE:
if slider.label() == 'l_rotate_x':
currentFootOri['Left'] = np.dot(mm.rotX(slider.value() * 4.),
currentFootOri['Left'])
elif slider.label() == 'l_rotate_y':
currentFootOri['Left'] = np.dot(mm.rotY(slider.value() * 4.),
currentFootOri['Left'])
elif slider.label() == 'l_rotate_z':
currentFootOri['Left'] = np.dot(mm.rotZ(slider.value() * 4.),
currentFootOri['Left'])
elif slider.label() == 'r_rotate_x':
currentFootOri['Right'] = np.dot(mm.rotX(slider.value() * 4.),
currentFootOri['Right'])
elif slider.label() == 'r_rotate_y':
currentFootOri['Right'] = np.dot(mm.rotY(slider.value() * 4.),
currentFootOri['Right'])
elif slider.label() == 'r_rotate_z':
currentFootOri['Right'] = np.dot(mm.rotZ(slider.value() * 4.),
currentFootOri['Right'])
slider.value(0.)
def offsetSliderCallback(slider):
'''
:type slider: Fl_Hor_Value_Slider | Fl_Roller
:return:
'''
# trigger part
# if slider.label() == 'offset_tx':
# _rootpos = dartModel.getBodyPositionGlobal(0)
# dartModel.translateByOffset(np.array((slider.value() - _rootpos[0], 0., 0.)))
# dartMotionModel.translateByOffset(np.array((slider.value() - _rootpos[0], 0., 0.)))
# motion_ori[0].translateByOffset(np.array((slider.value()- _rootpos[0], 0., 0.)))
# elif slider.label() == 'offset_ty':
# _rootpos = dartModel.getBodyPositionGlobal(0)
# dartModel.translateByOffset(np.array((0., slider.value() - _rootpos[1], 0.)))
# dartMotionModel.translateByOffset(np.array((0., slider.value() - _rootpos[1], 0.)))
# motion_ori[0].translateByOffset(np.array((0., slider.value()- _rootpos[1], 0.)))
# elif slider.label() == 'offset_tz':
# _rootpos = dartModel.getBodyPositionGlobal(0)
# dartModel.translateByOffset(np.array((0., 0., slider.value() - _rootpos[2])))
# dartMotionModel.translateByOffset(np.array((0., 0., slider.value() - _rootpos[2])))
# motion_ori[0].translateByOffset(np.array((0., 0., slider.value()- _rootpos[2])))
if slider.label() == 'l_rotate_x':
motion[0].setJointOrientationGlobal(
LeftAnkleIdx,
np.dot(mm.rotX(slider.value() * 4.), currentFootOri['Left']))
elif slider.label() == 'l_rotate_y':
motion[0].setJointOrientationGlobal(
LeftAnkleIdx,
np.dot(mm.rotY(slider.value() * 4.), currentFootOri['Left']))
elif slider.label() == 'l_rotate_z':
motion[0].setJointOrientationGlobal(
LeftAnkleIdx,
np.dot(mm.rotZ(slider.value() * 4.), currentFootOri['Left']))
elif slider.label() == 'r_rotate_x':
motion[0].setJointOrientationGlobal(
RightAnkleIdx,
np.dot(mm.rotX(slider.value() * 4.), currentFootOri['Right']))
elif slider.label() == 'r_rotate_y':
motion[0].setJointOrientationGlobal(
RightAnkleIdx,
np.dot(mm.rotY(slider.value() * 4.), currentFootOri['Right']))
elif slider.label() == 'r_rotate_z':
motion[0].setJointOrientationGlobal(
RightAnkleIdx,
np.dot(mm.rotZ(slider.value() * 4.), currentFootOri['Right']))
def step_model(self):
contacts, points, angles, orientations, root_orientation = self.controller.step(self.get_target())
# pairs = [[0,11,3,4],
# [0,8,10,2],
# [0,13,6,7],
# [0,9,12,5],
# [0,1]]
pairs = [[0,18,11,3,4],
[0,14,8,10,2],
[0,19,13,6,7],
[0,14,9,12,5],
[0,14,17,1]]
self.lines = []
for pair in pairs:
for i in range(len(pair)-1):
self.lines.append([points[pair[i]], points[pair[i+1]]])
# print(len(orientations))
for i in range(len(angles)):
self.all_angles[i].append(angles[i])
for j in range(len(self.model.joints)):
if j == 0:
joint = self.model.joints[j] # type: pydart.FreeJoint
joint_idx = joint_list.index(joint.name)
hip_angles = mm.logSO3(np.dot(root_orientation, orientations[joint_idx]))
# hip_angles = mm.logSO3(root_orientation)
joint.set_position(np.array([hip_angles[0], hip_angles[1], hip_angles[2], points[0][0], points[0][1], points[0][2]]))
continue
joint = self.model.joints[j] # type: pydart.BallJoint
joint_idx = joint_list.index(joint.name)
joint.set_position(angles[joint_idx*3:joint_idx*3+3])
self.ik.clean_constraints()
self.ik.add_joint_pos_const('LeftForeArm', np.asarray(points[10]))
self.ik.add_joint_pos_const('LeftHand', np.asarray(points[2]))
self.ik.add_joint_pos_const('LeftLeg', np.asarray(points[11]))
self.ik.add_joint_pos_const('LeftFoot', np.asarray(points[3]))
if contacts[0] > 0.8 and False:
body_transform = self.model.body('LeftFoot').transform()[:3, :3]
angle = math.acos(body_transform[1, 1])
body_ori = np.dot(body_transform, mm.rotX(-angle))
self.ik.add_orientation_const('LeftFoot', body_ori)
self.ik.add_joint_pos_const('RightForeArm', np.asarray(points[12]))
self.ik.add_joint_pos_const('RightHand', np.asarray(points[5]))
self.ik.add_joint_pos_const('RightLeg', np.asarray(points[13]))
self.ik.add_joint_pos_const('RightFoot', np.asarray(points[6]))
self.ik.solve()
foot_joint_ori = mm.exp(self.model.joint('LeftFoot').position())
self.model.joint('LeftFoot').set_position(mm.logSO3(np.dot(foot_joint_ori, np.dot(mm.rotX(-.6), mm.rotZ(.4)))))
foot_joint_ori = mm.exp(self.model.joint('RightFoot').position())
self.model.joint('RightFoot').set_position(mm.logSO3(np.dot(foot_joint_ori, np.dot(mm.rotX(-.6), mm.rotZ(-.4)))))
left_foot = self.model.body('LeftFoot')
if (left_foot.to_world([0.05, -0.045, 0.1125])[1] < 0. or left_foot.to_world([-0.05, -0.045, 0.1125])[1] < 0.) \
and (left_foot.to_world([0.05, -0.045, -0.1125])[1] < 0. or left_foot.to_world([-0.05, -0.045, -0.1125])[1] < 0.):
left_toe_pos1 = left_foot.to_world([0.05, -0.045, +0.1125])
left_toe_pos1[1] = 0.
left_toe_pos2 = left_foot.to_world([-0.05, -0.045, +0.1125])
left_toe_pos2[1] = 0.
left_heel_pos1 = left_foot.to_world([0.05, -0.045, -0.1125])
left_heel_pos1[1] = 0.
left_heel_pos2 = left_foot.to_world([-0.05, -0.045, -0.1125])
left_heel_pos2[1] = 0.
self.ik.clean_constraints()
self.ik.add_position_const('LeftFoot', left_toe_pos1, np.array([0.05, -0.045, +0.1125]))
self.ik.add_position_const('LeftFoot', left_toe_pos2, np.array([-0.05, -0.045, +0.1125]))
self.ik.add_position_const('LeftFoot', left_heel_pos1, np.array([0.05, -0.045, -0.1125]))
self.ik.add_position_const('LeftFoot', left_heel_pos2, np.array([-0.05, -0.045, -0.1125]))
self.ik.solve()
right_foot = self.model.body('RightFoot')
if (right_foot.to_world([0.05, -0.045, 0.1125])[1] < 0. or right_foot.to_world([-0.05, -0.045, 0.1125])[1] < 0.) \
and (right_foot.to_world([0.05, -0.045, -0.1125])[1] < 0. or right_foot.to_world([-0.05, -0.045, -0.1125])[1] < 0.):
right_toe_pos1 = right_foot.to_world([0.05, -0.045, +0.1125])
right_toe_pos1[1] = 0.
right_toe_pos2 = right_foot.to_world([-0.05, -0.045, +0.1125])
right_toe_pos2[1] = 0.
right_heel_pos1 = right_foot.to_world([0.05, -0.045, -0.1125])
right_heel_pos1[1] = 0.
right_heel_pos2 = right_foot.to_world([-0.05, -0.045, -0.1125])
right_heel_pos2[1] = 0.
self.ik.clean_constraints()
self.ik.add_position_const('RightFoot', right_toe_pos1, np.array([0.05, -0.045, +0.1125]))
self.ik.add_position_const('RightFoot', right_toe_pos2, np.array([-0.05, -0.045, +0.1125]))
self.ik.add_position_const('RightFoot', right_heel_pos1, np.array([0.05, -0.045, -0.1125]))
self.ik.add_position_const('RightFoot', right_heel_pos2, np.array([-0.05, -0.045, -0.1125]))
self.ik.solve()
def toDsSkelXmlStr(self, config):
jointMotion = self.bvh.toJointMotion(1., False)
# jointMotion.rotateByOffset(mm.rotX(math.pi*0.5))
return self.posture2DsSkel(jointMotion[0], config,
mm.rotX(math.pi * .5))
def get_rnn_ref_pose_step(self, reset=False):
if not reset:
self.prev_ref_q = self.ref_skel.positions()
self.prev_ref_dq = self.ref_skel.velocities()
self.prev_ref_p_e_hat = np.asarray([
body.world_transform()[:3, 3] for body in self.ref_body_e
]).flatten()
self.prev_ref_com = self.ref_skel.com()
p = self.goal_in_world_frame
target = Pose2d(
[p[0] / self.RNN_MOTION_SCALE, -p[2] / self.RNN_MOTION_SCALE])
target = self.rnn.pose.relativePose(target)
target = target.p
t_len = v_len(target)
if t_len > 80:
ratio = 80 / t_len
target[0] *= ratio
target[1] *= ratio
contacts, points, angles, orientations, root_orientation = self.rnn.step(
target)
for j in range(len(self.ref_skel.joints)):
if j == 0:
joint = self.ref_skel.joints[j] # type: pydart.FreeJoint
joint_idx = self.rnn_joint_list.index(joint.name)
hip_angles = mm.logSO3(
np.dot(root_orientation, orientations[joint_idx]))
# hip_angles = mm.logSO3(root_orientation)
joint.set_position(
np.array([
hip_angles[0], hip_angles[1], hip_angles[2],
points[0][0], points[0][1], points[0][2]
]))
continue
joint = self.ref_skel.joints[j] # type: pydart.BallJoint
joint_idx = self.rnn_joint_list.index(joint.name)
joint.set_position(angles[joint_idx * 3:joint_idx * 3 + 3])
self.ik.clean_constraints()
self.ik.add_joint_pos_const('LeftForeArm', np.asarray(points[10]))
self.ik.add_joint_pos_const('LeftHand', np.asarray(points[2]))
self.ik.add_joint_pos_const('LeftLeg', np.asarray(points[11]))
self.ik.add_joint_pos_const('LeftFoot', np.asarray(points[3]))
if contacts[0] > 0.8 and False:
body_transform = self.ref_skel.body('LeftFoot').transform()[:3, :3]
angle = acos(body_transform[1, 1])
body_ori = np.dot(body_transform, mm.rotX(-angle))
self.ik.add_orientation_const('LeftFoot', body_ori)
self.ik.add_joint_pos_const('RightForeArm', np.asarray(points[12]))
self.ik.add_joint_pos_const('RightHand', np.asarray(points[5]))
self.ik.add_joint_pos_const('RightLeg', np.asarray(points[13]))
self.ik.add_joint_pos_const('RightFoot', np.asarray(points[6]))
self.ik.solve()
foot_joint_ori = mm.exp(self.ref_skel.joint('LeftFoot').position())
self.ref_skel.joint('LeftFoot').set_position(
mm.logSO3(np.dot(foot_joint_ori, np.dot(mm.rotX(-.6),
mm.rotZ(.4)))))
foot_joint_ori = mm.exp(self.ref_skel.joint('RightFoot').position())
self.ref_skel.joint('RightFoot').set_position(
mm.logSO3(
np.dot(foot_joint_ori, np.dot(mm.rotX(-.6), mm.rotZ(-.4)))))
if not self.first:
dq = 30. * self.ref_skel.position_differences(
self.ref_skel.positions(), self.prev_ref_q)
self.ref_skel.set_velocities(dq)
if reset:
self.prev_ref_q = self.ref_skel.positions()
self.prev_ref_dq = self.ref_skel.velocities()
self.prev_ref_p_e_hat = np.asarray([
body.world_transform()[:3, 3] for body in self.ref_body_e
]).flatten()
self.prev_ref_com = self.ref_skel.com()
def get_rnn_ref_pose_step(self):
p = self.goal_in_world_frame
target = Pose2d(
[p[0] / self.RNN_MOTION_SCALE, -p[2] / self.RNN_MOTION_SCALE])
target = self.rnn.pose.relativePose(target)
target = target.p
t_len = v_len(target)
if t_len > 80:
ratio = 80 / t_len
target[0] *= ratio
target[1] *= ratio
contacts, points, angles, orientations, root_orientation = self.rnn.step(
target)
for j in range(len(self.ik_skel.joints)):
if j == 0:
joint = self.ik_skel.joints[j] # type: pydart.FreeJoint
joint_idx = self.rnn_joint_list.index(joint.name)
hip_angles = mm.logSO3(
np.dot(root_orientation, orientations[joint_idx]))
# hip_angles = mm.logSO3(root_orientation)
joint.set_position(
np.array([
hip_angles[0], hip_angles[1], hip_angles[2],
points[0][0], points[0][1], points[0][2]
]))
continue
joint = self.ik_skel.joints[j] # type: pydart.BallJoint
joint_idx = self.rnn_joint_list.index(joint.name)
joint.set_position(angles[joint_idx * 3:joint_idx * 3 + 3])
self.ik.clean_constraints()
self.ik.add_joint_pos_const('Hips', np.asarray(points[0]))
self.ik.add_joint_pos_const('LeftForeArm', np.asarray(points[10]))
self.ik.add_joint_pos_const('LeftHand', np.asarray(points[2]))
self.ik.add_joint_pos_const('LeftLeg', np.asarray(points[11]))
self.ik.add_joint_pos_const('LeftFoot', np.asarray(points[3]))
if contacts[0] > 0.8 and False:
body_transform = self.ik_skel.body('LeftFoot').transform()[:3, :3]
angle = acos(body_transform[1, 1])
body_ori = np.dot(body_transform, mm.rotX(-angle))
self.ik.add_orientation_const('LeftFoot', body_ori)
self.ik.add_joint_pos_const('RightForeArm', np.asarray(points[12]))
self.ik.add_joint_pos_const('RightHand', np.asarray(points[5]))
self.ik.add_joint_pos_const('RightLeg', np.asarray(points[13]))
self.ik.add_joint_pos_const('RightFoot', np.asarray(points[6]))
self.ik.add_joint_pos_const('Neck1', np.asarray(points[17]))
self.ik.solve()
foot_joint_ori = mm.exp(self.ik_skel.joint('LeftFoot').position())
self.ik_skel.joint('LeftFoot').set_position(
mm.logSO3(np.dot(foot_joint_ori, np.dot(mm.rotX(-.6),
mm.rotZ(.4)))))
foot_joint_ori = mm.exp(self.ik_skel.joint('RightFoot').position())
self.ik_skel.joint('RightFoot').set_position(
mm.logSO3(
np.dot(foot_joint_ori, np.dot(mm.rotX(-.6), mm.rotZ(-.4)))))
left_foot = self.ik_skel.body('LeftFoot')
if (left_foot.to_world([0.05, -0.045, 0.1125])[1] < 0. or left_foot.to_world([-0.05, -0.045, 0.1125])[1] < 0.) \
and (left_foot.to_world([0.05, -0.045, -0.1125])[1] < 0. or left_foot.to_world([-0.05, -0.045, -0.1125])[1] < 0.):
left_toe_pos1 = left_foot.to_world([0.05, -0.045, +0.1125])
left_toe_pos1[1] = 0.
left_toe_pos2 = left_foot.to_world([-0.05, -0.045, +0.1125])
left_toe_pos2[1] = 0.
left_heel_pos1 = left_foot.to_world([0.05, -0.045, -0.1125])
left_heel_pos1[1] = 0.
left_heel_pos2 = left_foot.to_world([-0.05, -0.045, -0.1125])
left_heel_pos2[1] = 0.
self.ik.clean_constraints()
self.ik.add_position_const('LeftFoot', left_toe_pos1,
np.array([0.05, -0.045, +0.1125]))
self.ik.add_position_const('LeftFoot', left_toe_pos2,
np.array([-0.05, -0.045, +0.1125]))
self.ik.add_position_const('LeftFoot', left_heel_pos1,
np.array([0.05, -0.045, -0.1125]))
self.ik.add_position_const('LeftFoot', left_heel_pos2,
np.array([-0.05, -0.045, -0.1125]))
self.ik.solve()
right_foot = self.ik_skel.body('RightFoot')
if (right_foot.to_world([0.05, -0.045, 0.1125])[1] < 0. or right_foot.to_world([-0.05, -0.045, 0.1125])[1] < 0.) \
and (right_foot.to_world([0.05, -0.045, -0.1125])[1] < 0. or right_foot.to_world([-0.05, -0.045, -0.1125])[1] < 0.):
right_toe_pos1 = right_foot.to_world([0.05, -0.045, +0.1125])
right_toe_pos1[1] = 0.
right_toe_pos2 = right_foot.to_world([-0.05, -0.045, +0.1125])
right_toe_pos2[1] = 0.
right_heel_pos1 = right_foot.to_world([0.05, -0.045, -0.1125])
right_heel_pos1[1] = 0.
right_heel_pos2 = right_foot.to_world([-0.05, -0.045, -0.1125])
right_heel_pos2[1] = 0.
self.ik.clean_constraints()
self.ik.add_position_const('RightFoot', right_toe_pos1,
np.array([0.05, -0.045, +0.1125]))
self.ik.add_position_const('RightFoot', right_toe_pos2,
np.array([-0.05, -0.045, +0.1125]))
self.ik.add_position_const('RightFoot', right_heel_pos1,
np.array([0.05, -0.045, -0.1125]))
self.ik.add_position_const('RightFoot', right_heel_pos2,
np.array([-0.05, -0.045, -0.1125]))
self.ik.solve()
def preprocess(SEGMENT_FOOT=False):
tasks = []
outputDir = './ppmotion/'
dir = '../Data/woody2/Motion/Physics2/'
config = None
if SEGMENT_FOOT:
# segmented foot
config = {
'repeat': True,
'footRot': mm.rotX(.07),
'yOffset': 0.,
'halfFootHeight': 0.0944444444444,
'scale': .01,
'type': 'woody2'
}
else:
# box foot
config = {
'repeat': True,
'footRot': mm.rotX(-.4),
'yOffset': 0.,
'halfFootHeight': 0.0444444444444,
'scale': .01,
'type': 'woody2'
}
paths = []
paths.append(dir + 'wd2_WalkSameSame01.bvh')
paths.append(dir + 'wd2_WalkForwardSlow01.bvh')
paths.append(dir + 'wd2_WalkForwardNormal00.bvh')
paths.append(dir + 'wd2_WalkHandWav00.bvh')
paths.append(dir + 'wd2_WalkForwardFast00.bvh')
paths.append(dir + 'wd2_WalkForwardVFast00.bvh')
paths.append(dir + 'wd2_WalkLean00.bvh')
paths.append(dir + 'wd2_WalkAzuma01.bvh')
paths.append(dir + 'wd2_WalkSoldier00.bvh')
paths.append(dir + 'wd2_WalkSukiko00.bvh')
# paths.append(dir+'wd2_WalkBackward00.bvh')
paths.append(dir + 'wd2_WalkTongTong00.bvh')
tasks.append({'config': config, 'paths': paths})
##
# dir = '../Data/woody2/Motion/Balancing/'
# config = {'footRot': mm.exp(mm.v3(1,-.5,0), -.6), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01, 'type':'woody2'}
# paths = []
# paths.append(dir+'wd2_2foot_walk_turn.bvh')
# paths.append(dir+'wd2_2foot_walk_turn2.bvh')
# paths.append(dir+'wd2_slow_2foot_hop.bvh')
# paths.append(dir+'wd2_short_broad_jump.bvh')
# paths.append(dir+'wd2_long_broad_jump.bvh')
# paths.append(dir+'wd2_ffast_cancan_run.bvh')
# paths.append(dir+'wd2_fast_cancan_run.bvh')
# paths.append(dir+'wd2_fast_2foot_hop.bvh')
# paths.append(dir+'wd2_1foot_contact_run.bvh')
# paths.append(dir+'wd2_1foot_contact_run2.bvh')
## tasks.append({'config':config, 'paths':paths})
#
## dir = '../Data/woody2/Motion/Samsung/'
## config = {'footRot': mm.rotX(-.46), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'}
## paths = []
## paths.append(dir+'wd2_left_turn.bvh')
## paths.append(dir+'wd2_right_turn.bvh')
## paths.append(dir+'wd2_pose_inner1.bvh')
## paths.append(dir+'wd2_pose_inner2.bvh')
## tasks.append({'config':config, 'paths':paths})
#
# dir = '../Data/woody2/Motion/Picking/'
# config = {'footRot': mm.rotX(-.5), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01, 'type':'woody2'}
# paths = []
# paths.append(dir+'wd2_pick_walk_1.bvh')
## tasks.append({'config':config, 'paths':paths})
#
# dir = '../Data/woody2/Motion/VideoMotion/'
# config = {'footRot': mm.rotX(-.48), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'}
## paths = glob.glob(dir+'*.bvh')
# paths = []
# paths.append(dir+'wd2_cross_walk_90d_fast_27.bvh')
## tasks.append({'config':config, 'paths':paths})
#
# dir = '../Data/woody2/Motion/Walking/'
# config = {'footRot': mm.rotX(-.40), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'}
# paths = glob.glob(dir+'*.bvh')
## tasks.append({'config':config, 'paths':paths})
#
## dir = '../Data/woody2/Motion/samsung_boxing/round/'
## config = {'footRot': mm.rotX(-.65), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'}
## paths = glob.glob(dir+'*.bvh')
## tasks.append({'config':config, 'paths':paths})
#
## dir = '../Data/woody2/Motion/samsung_boxing/boxman/'
## config = {'footRot': mm.rotX(-.5), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'}
## paths = glob.glob(dir+'*.bvh')
## tasks.append({'config':config, 'paths':paths})
#
# dir = '../Data/woody2/Motion/motion_edit/'
# config = {'footRot': mm.rotX(-.5), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':.01*2.54, 'type':'woody2amc'}
# paths = glob.glob(dir+'*.bvh')
## tasks.append({'config':config, 'paths':paths})
#
## outputDir = './icmotion_test/'
## dir = './rawmotion/'
## config = {'footRot': mm.rotX(-.5), 'yOffset': .0, 'halfFootHeight': 0.0444444444444, 'scale':1., 'type':'woody2_new'}
## paths = glob.glob(dir+'*.temp')
## tasks.append({'config':config, 'paths':paths})
#
# outputDir = './icmotion_last/'
# dir = './lastmotion/add/'
## config = {'rootRot':mm.rotZ(.05), 'footRot': mm.rotX(-.5), 'leftFootR':mm.rotZ(-.1), \
# config = {'rootRot':mm.rotZ(.0), 'footRot': np.dot(mm.rotX(-.5), mm.rotZ(.04)), 'leftFootR':mm.rotZ(-.2), \
# 'halfFootHeight': 0.0444444444444, 'scale':1., 'type':'woody2_new'}
# paths = glob.glob(dir+'*.temp')
# tasks.append({'config':config, 'paths':paths})
# outputDir = './ppmotion_slope/'
# dir = './rawmotion_slope_extracted/'
# config = {'rootRot':mm.rotZ(.0), 'footRot': np.dot(mm.rotX(-.55), mm.rotZ(.04)), 'leftFootR':mm.rotZ(-.2), \
# 'halfFootHeight': 0.0444444444444, 'scale':1., 'type':'woody2_new'}
# paths = glob.glob(dir+'*.bvh')
# tasks.append({'config':config, 'paths':paths})
VISUALIZE = False
for task in tasks:
config = task['config']
paths = task['paths']
for path in paths:
motion = yf.readBvhFile(path)
normalizeSkeleton(motion, config)
adjustHeight(motion, config['halfFootHeight'])
additionalEdit(motion, path)
outputPath = outputDir + os.path.basename(path)
if SEGMENT_FOOT:
outputPath = outputDir + "segfoot_" + os.path.basename(path)
yf.writeBvhFile(outputPath, motion)
print(outputPath, 'done')
if 'repeat' in config and config['repeat']:
hRef = .1
vRef = .3
lc = yma.getElementContactStates(motion, 'LeftFoot', hRef,
vRef)
interval = yba.getWalkingCycle2(motion, lc)
transitionLength = 20 if 'wd2_WalkAzuma01.bvh' in path else 10
motion = ymt.repeatCycle(motion, interval, 50,
transitionLength)
outputName = os.path.splitext(
os.path.basename(path))[0] + '_REPEATED.bvh'
outputPath = outputDir + outputName
if SEGMENT_FOOT:
outputPath = outputDir + 'segfoot_' + outputName
yf.writeBvhFile(outputPath, motion)
print(outputPath, 'done')
if VISUALIZE:
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'motion',
yr.JointMotionRenderer(motion, (0, 100, 255),
yr.LINK_LINE))
viewer.doc.addObject('motion', motion)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
print('FINISHED')
from PyCommon.modules.Resource import ysMotionLoader as yf
import PyCommon.modules.Motion.ysSkeletonEdit as yse
from PyCommon.modules.Math import mmMath as mm
bvh = yf.readBvhFileAsBvh('wd2_jump0.bvh')
print(bvh)
bvh.swap_joint('RightUpLeg', 'LeftUpLeg')
print(bvh)
# bvh.writeBvhFile('wd2_jump0_edited.bvh')
motion = bvh.toJointMotion(scale=1., applyRootOffset=False)
yse.rotateJointLocal(motion, 'LeftFoot', mm.rotX(0.4), False)
yse.rotateJointLocal(motion, 'RightFoot', mm.rotX(0.4), False)
yf.writeBvhFile('wd2_jump0_edited.bvh', motion)
def preprocess(SEGMENT_FOOT=False):
tasks = []
outputDir = './ppmotion/'
if SEGMENT_FOOT:
outputDir = './ppmotion_segfoot/'
dir = './ori_motion/'
config = None
if SEGMENT_FOOT:
# segmented foot
# config = {'repeat':False, 'footRot': mm.rotX(.07), 'yOffset':0., 'halfFootHeight': 0.0944444444444, 'scale':.01, 'type':'woody2'}
config = {
'repeat': False,
'footRot': mm.rotX(-.07),
'yOffset': 0.,
'halfFootHeight': 0.0944444444444,
'scale': .01,
'type': 'woody2'
}
else:
# box foot
config = {
'repeat': False,
'footRot': mm.rotX(-.4),
'yOffset': 0.,
'halfFootHeight': 0.0444444444444,
'scale': .01,
'type': 'woody2'
}
paths = []
# rotX = -0.07
paths.append(dir + 'wd2_1foot_contact_run2_edit.bvh')
paths.append(dir + 'wd2_fast_2foot_hop_edit.bvh')
paths.append(dir + 'wd2_long_broad_jump_edit.bvh')
paths.append(dir + 'wd2_n_kick_edit.bvh')
paths.append(dir + 'wd2_short_broad_jump_edit.bvh')
paths.append(dir + 'wd2_slow_2foot_hop_edit.bvh')
# rotX = 0.07
# paths.append(dir+'wd2_boxing_round_round_girl1_edit.bvh')
# paths.append(dir+'wd2_u-turn_edit.bvh')
tasks.append({'config': config, 'paths': paths})
VISUALIZE = False
for task in tasks:
config = task['config']
paths = task['paths']
for path in paths:
motion = yf.readBvhFile(path)
normalizeSkeleton(motion, config)
adjustHeight(motion, config['halfFootHeight'])
additionalEdit(motion, path)
outputPath = outputDir + os.path.basename(path)
if SEGMENT_FOOT:
outputPath = outputDir + "segfoot_" + os.path.basename(path)
yf.writeBvhFile(outputPath, motion)
print(outputPath, 'done')
if 'repeat' in config and config['repeat']:
hRef = .1
vRef = .3
lc = yma.getElementContactStates(motion, 'LeftFoot', hRef,
vRef)
interval = yba.getWalkingCycle2(motion, lc)
transitionLength = 20 if 'wd2_WalkAzuma01.bvh' in path else 10
motion = ymt.repeatCycle(motion, interval, 50,
transitionLength)
outputName = os.path.splitext(
os.path.basename(path))[0] + '_REPEATED.bvh'
outputPath = outputDir + outputName
if SEGMENT_FOOT:
outputPath = outputDir + 'segfoot_' + outputName
yf.writeBvhFile(outputPath, motion)
print(outputPath, 'done')
if VISUALIZE:
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'motion',
yr.JointMotionRenderer(motion, (0, 100, 255),
yr.LINK_LINE))
viewer.doc.addObject('motion', motion)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
print('FINISHED')
