def __init__(self, scene_object, name, data, color=(0, 0, 1)):
LegacySkeletonAnimationController.__init__(self, scene_object)
self.motion_primitive = MotionStateGraphNode(None)
self.skeleton = SkeletonBuilder().load_from_json_data(data["skeleton"])
self.frameTime = self.skeleton.frame_time
self._visualizations = []
self.samples = []
self.algorithm_config = DEFAULT_ALGORITHM_CONFIG
self.color = color
self.motion_primitive._initialize_from_json(convert_to_mgrd_skeleton(self.skeleton), data)
print("loaded motion primitive")
print("spatial", self.motion_primitive.get_n_spatial_components())
print("time", self.motion_primitive.get_n_time_components())
self.motion_primitive.cluster_tree = None
self.training_data = None
#print("n gmm", len(self.motion_primitive.get_gaussian_mixture_model().weights))
self.name = name
self._regenerate = True
self.type = CONTROLLER_TYPE_MP
set_log_mode(LOG_MODE_DEBUG)
self.start_pose = {"position": [0, 0, 0], "orientation": [0, 0, 0]}
self.mock_graph = MockGraph(self.skeleton)
self.label_color_map = dict()
def __init__(self,
scene_object,
name,
graph,
start_node=None,
config=DEFAULT_ALGORITHM_CONFIG,
color=(0, 0, 1)):
SkeletonAnimationController.__init__(self, scene_object)
self.name = name # file_path.split("/")[-1]
self._graph = graph #loader.build()
self.algorithm_config = config
self._service_config = SERVICE_CONFIG
self._graph_walk = None
self._motion = None
self._regenerate = True
self.frameTime = self._graph.skeleton.frame_time
print(self._graph.skeleton.animated_joints)
print("set frame time to", self.frameTime)
#self._visualization = SkeletonVisualization(scene_object, color)
#self._visualization.set_skeleton(self._graph.skeleton)
self.type = CONTROLLER_TYPE_MG
set_log_mode(LOG_MODE_DEBUG)
if start_node is None:
print("generate random start")
start_node = self._graph.get_random_start_node()
self.start_node = start_node
print("start node", self.start_node)
self.start_pose = {"position": [0, 0, 0], "orientation": [0, 0, 0]}
def __init__(self, scene_object, file_path, color=(0, 0, 1)):
LegacySkeletonAnimationController.__init__(self, scene_object)
loader = MotionStateGraphLoader()
loader.set_data_source(file_path[:-4])
loader.use_all_joints = False # = set animated joints to all
self.name = file_path.split("/")[-1]
self._graph = loader.build()
self.algorithm_config = DEFAULT_ALGORITHM_CONFIG
self._service_config = SERVICE_CONFIG
self._graph_walk = None
self._motion = None
self._regenerate = True
self.frameTime = self._graph.skeleton.frame_time
print(self._graph.skeleton.animated_joints)
print("set frame time to", self.frameTime)
self._visualization = SkeletonVisualization(scene_object, color)
self._visualization.set_skeleton(self._graph.skeleton)
self.type = CONTROLLER_TYPE_MG
set_log_mode(LOG_MODE_DEBUG)
self.start_node = self._graph.get_random_start_node()
print("start node", self.start_node)
self.start_pose = {"position": [0, 0, 0], "orientation": [0, 0, 0]}
def __init__(self, scene_object, graph, start_node=None, use_all_joints=False, config=DEFAULT_CONFIG, pfnn_data=None):
StateMachineController.__init__(self, scene_object)
self._graph = graph
if start_node is None or start_node not in self._graph.nodes:
start_node = self._graph.start_node
self.start_node = start_node
self.frame_time = self._graph.skeleton.frame_time
self.skeleton = self._graph.skeleton
self.thread = None
self._visualization = None
set_log_mode(LOG_MODE_DEBUG)
self.current_node = self.start_node
self.use_all_joints = use_all_joints
self.node_type = NODE_TYPE_IDLE
self.state = None
self.set_initial_idle_state(use_all_joints)
print("start node", self.current_node)
self.start_pose = {"position": [0, 0, 0], "orientation": [0, 0, 0]}
self.speed = 1
if "speed" in config:
self.speed = config["speed"]
print("set speed", self.speed)
self.pose_buffer = []
self.buffer_size = 10
self.max_step_length = 80
self.direction_vector = np.array([-1.0, 0.0, 0.0])
self.action_constraint = None
self.target_projection_len = 0
self.n_joints = len(self.skeleton.animated_joints)
self.n_max_state_queries = 20
self.retarget_engine = None
self.target_skeleton = None
self.activate_emit = False
self.show_skeleton = True
self.node_queue = []
self.activate_grounding = False
self.collision_boundary = None
self.hand_collision_boundary = None
self.aligning_transform = np.eye(4)
self.draw_root_trajectory = False
self.planner = MGStatePlanner(self, self._graph, config)
self.motion_grounding = MotionGrounding(self.skeleton, config["algorithm"]["inverse_kinematics_settings"], self.skeleton.skeleton_model)
self.actions = self.planner.action_definitions
self.planner.settings.use_all_joints = use_all_joints
self.state.play = True
self.thread = None
self.animation_server = None
self.success = True
self.is_recording = False
self.stop_current_state = False
self.lock = threading.Lock()
self.recorded_poses = list()
#if pfnn_data is not None:
# self.planner.pfnn_wrapper = PFNNWrapper.load_from_dict(self.skeleton, pfnn_data["weights"], pfnn_data["means"])
# self.planner.use_pfnn = True
self.load_clips = dict()
if "clip_directory" in config and "clip_directory" in config:
data_path = config["data_directory"] + os.sep + config["clip_directory"]
if os.path.isdir(data_path):
self.loaded_clips = load_clips(data_path)
else:
print("Could not find clip directory", data_path)
else:
write_message_to_log(
"Warning: Did not find JSONPath " + json_path_str + " in data",
LOG_MODE_ERROR)
if __name__ == "__main__":
test_data = {
"model_data":
"motion_primitives_quaternion_PCA95_unity-integration-1.0.0",
"port": 8888,
"write_log": True,
"log_level": 1,
"list_test": [{
"ab": 1
}, {
"ab": 3
}]
}
import argparse
set_log_mode(LOG_MODE_DEBUG)
parser = argparse.ArgumentParser(description="Test")
parser.add_argument("-set",
nargs='+',
default=[],
help="JSONPath expression")
args = parser.parse_args()
update_data_using_jsonpath(test_data, args.set)