def test_getBipedGaitStates():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
hRef = .1; vRef = .3
lc = yma.getElementContactStates(motion, motion[0].skeleton.getElementIndex('LeftFoot'), hRef, vRef)
rc = yma.getElementContactStates(motion, motion[0].skeleton.getElementIndex('RightFoot'), hRef, vRef)
rawStateList = getBipedGaitStates(lc, rc)
cookedStateList = getBipedGaitStates(lc, rc, 10, 1.)
intervals, types = yma.states2intervals(cookedStateList)
for i in range(len(intervals)):
print(intervals[i], GaitState.text[types[i]])
print()
print([yma.intIntervalUp(int) for int in intervals])
print(getWalkingSteps(lc, rc, True))
print(getBipedGaitIntervals(lc, rc, 10, 1.))
plot = ymp.SmartPlot()
plot.setXdata('frame', range(len(motion)))
plot.addYdata('rawState', rawStateList)
plot.addYdata('cookedState', cookedStateList)
plot.showModeless()
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_LINE))
viewer.doc.addObject('motion', motion)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def getBipedGaitStates2(lFootContactStates, rFootContactStates, jumpThreshold = 0, jumpBias = .5, stopThreshold = 0, stopBias = .5):
gaitStates = [None]*len(lFootContactStates)
for i in range(len(lFootContactStates)):
if lFootContactStates[i] and not rFootContactStates[i]:
gaitStates[i] = GaitState.RSWING
elif not lFootContactStates[i] and rFootContactStates[i]:
gaitStates[i] = GaitState.LSWING
elif lFootContactStates[i] and rFootContactStates[i]:
gaitStates[i] = GaitState.STOP
elif not lFootContactStates[i] and not rFootContactStates[i]:
gaitStates[i] = GaitState.JUMP
# check thresholds
# intervals, types = getBipedGaitIntervalsTypes(gaitStates)
# stopIntervals = getSpecifiedTypeIntervals(GaitState.STOP, intervals, types)
# jumpIntervals = getSpecifiedTypeIntervals(GaitState.JUMP, intervals, types)
intervals, types = yma.states2intervals(gaitStates)
intervals = [yma.intIntervalInner(interval) for interval in intervals]
stopIntervals = yma.getIntervalsWithState(GaitState.STOP, intervals, types)
jumpIntervals = yma.getIntervalsWithState(GaitState.JUMP, intervals, types)
total = [stopIntervals, jumpIntervals]
thresholds = [stopThreshold, jumpThreshold]
biases = [stopBias, jumpBias]
for b in range(len(total)):
intervals = total[b]
threshold = thresholds[b]
bias = biases[b]
for interval in intervals:
# if interval[0] == 0 or interval[1] == len(gaitStates)-1:
# continue
# prevState = gaitStates[interval[0]-1]
# nextState = gaitStates[interval[1]+1]
# temp - to be fixed
if interval[0] == 0:
prevState = gaitStates[interval[1]+1]
nextState = gaitStates[interval[1]+1]
elif interval[1] == len(gaitStates)-1:
prevState = gaitStates[interval[0]-1]
nextState = gaitStates[interval[0]-1]
else:
prevState = gaitStates[interval[0]-1]
nextState = gaitStates[interval[1]+1]
if interval[1] - interval[0] < threshold:
mid = (interval[1] + interval[0])*bias
for i in range(interval[0], interval[1]+1):
if i < mid:
gaitStates[i] = prevState
else:
gaitStates[i] = nextState
return gaitStates
def test_blend():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion0 = yf.readBvhFile(bvhFilePath, .01)
# bvhFilePath = '../samples/wd2_WalkSukiko00.bvh'
bvhFilePath = '../samples/wd2_WalkForwardVFast00.bvh'
motion1 = yf.readBvhFile(bvhFilePath, .01)
hRef = .1
vRef = .3
RHEEL = motion0[0].skeleton.getElementIndex('RightFoot')
rc0 = yma.getElementContactStates(motion0, RHEEL, hRef, vRef)
rc1 = yma.getElementContactStates(motion1, RHEEL, hRef, vRef)
intervals0 = yma.states2intervals(rc0)[0]
intervals1 = yma.states2intervals(rc1)[0]
blendedMotion = blend(motion0, yma.intIntervalInner(intervals0[3]),
motion1, yma.intIntervalInner(intervals1[3]))
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'motion0',
yr.JointMotionRenderer(motion0, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('motion0', motion0)
viewer.doc.addRenderer(
'motion1',
yr.JointMotionRenderer(motion1, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('motion1', motion1)
viewer.doc.addRenderer(
'blendedMotion',
yr.JointMotionRenderer(blendedMotion, (0, 255, 0), yr.LINK_LINE))
viewer.doc.addObject('blendedMotion', blendedMotion)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def getWalkingCycle(jointMotion, one_contactStates, endZoneSize = 10):
intervals, types = yma.states2intervals(one_contactStates)
half1stIndex = (len(intervals)-1)/2 - 1
half2ndIndex = half1stIndex + 1
# print half1stIndex, half2ndIndex, intervals[half1stIndex], intervals[half2ndIndex]
# startFrame = intervals[half1stIndex][0]
# endFrame = intervals[half2ndIndex][-1]
startFrame = int(math.ceil(intervals[half1stIndex][0]))
endFrame = int(math.floor(intervals[half2ndIndex][-1]))
minDistance = sys.maxint
minFrame = 0
for i in range(endFrame-endZoneSize, endFrame+endZoneSize):
d = yma.distanceByRelPos(jointMotion[startFrame], jointMotion[i])
# print i, d
if d < minDistance:
# print 'min', i, d
minDistance = d
minFrame = i
endFrame = minFrame
return [startFrame, endFrame]
def getBipedGaitIntervals2(lFootContactStates, rFootContactStates, jumpThreshold = 0, jumpBias = .5, stopThreshold = 0, stopBias = .5):
states = getBipedGaitStates2(lFootContactStates, rFootContactStates, jumpThreshold, jumpBias, stopThreshold, stopBias)
intervals, states = yma.states2intervals(states)
return [yma.intIntervalUp(interval) for interval in intervals], states