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 test_late_foottouch():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
lFoot = motion[0].skeleton.getElementIndex('LeftFoot')
rFoot = motion[0].skeleton.getElementIndex('RightFoot')
hRef = .1
vRef = .3
lc = yma.getElementContactStates(motion, lFoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rFoot, hRef, vRef)
steps = yba.getWalkingSteps(lc, rc, True)
stepMotions = yma.splitMotionIntoSegments(motion, steps)
lateCycle = 2
howLate = 5
print('steps[%d] :' % lateCycle)
print('ys_motion[%d]~ys_motion[%d] => ' %
(steps[lateCycle][0], steps[lateCycle][1]),
end=' ')
print('motion_latetouch[%d]~motion_earyltouch[%d]' %
(steps[lateCycle][0], steps[lateCycle][1] + howLate))
motion_latetouch = stepMotions[0]
for i in range(1, len(stepMotions)):
if i == lateCycle:
stepMotions[i].extend(
ymt.extendByIntegration(stepMotions[i], howLate))
# stitched = getStitchedNextMotion(stepMotions[i], motion_latetouch[-1], len(stepMotions[i])-1, yfg.halfsine)
stitched = getStitchedNextMotion(stepMotions[i],
motion_latetouch[-1],
len(stepMotions[i]) - 1,
yfg.hermite2nd)
# stitched = getStitchedNextMotion(stepMotions[i], motion_latetouch[-1], len(stepMotions[i])-1, yfg.identity)
motion_latetouch += stitched
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'ys_motion',
yr.JointMotionRenderer(motion, (100, 100, 255), yr.LINK_LINE))
viewer.doc.addObject('ys_motion', motion)
viewer.doc.addRenderer(
'motion_latetouch',
yr.JointMotionRenderer(motion_latetouch, (0, 255, 0),
yr.LINK_LINE))
viewer.doc.addObject('motion_latetouch', motion_latetouch)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_getStitchedNextMotion():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
lFoot = motion[0].skeleton.getElementIndex('LeftFoot')
rFoot = motion[0].skeleton.getElementIndex('RightFoot')
hRef = .1
vRef = .3
lc = yma.getElementContactStates(motion, lFoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rFoot, hRef, vRef)
steps = yba.getWalkingSteps(lc, rc, True)
stepMotions = yma.splitMotionIntoSegments(motion, steps)
motion_stitch = stepMotions[0]
motion_getStitchedNextMotion = stepMotions[0]
print(len(motion_stitch), len(motion_getStitchedNextMotion))
for i in range(1, len(stepMotions)):
stepMotions[i] = stepMotions[i][:-5]
motion_stitch = stitch(motion_stitch, stepMotions[i], 5)
stitched = getStitchedNextMotion(stepMotions[i],
motion_getStitchedNextMotion[-1],
5)
motion_getStitchedNextMotion += stitched
print(len(motion_stitch), len(motion_getStitchedNextMotion))
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'ys_motion',
yr.JointMotionRenderer(motion, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('ys_motion', motion)
viewer.doc.addRenderer(
'motion_stitch',
yr.JointMotionRenderer(motion_stitch, (0, 255, 0), yr.LINK_LINE))
viewer.doc.addObject('motion_stitch', motion_stitch)
viewer.doc.addRenderer(
'motion_getStitchedNextMotion',
yr.JointMotionRenderer(motion_getStitchedNextMotion, (255, 255, 0),
yr.LINK_LINE))
viewer.doc.addObject('motion_getStitchedNextMotion',
motion_getStitchedNextMotion)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_repeatCycle():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
jointMotion = yf.readBvhFile(bvhFilePath, .01)
# bvhFilePath = '../samples/wd2_n_kick.bvh'
# jointMotion = yf.readBvhFile(bvhFilePath, .01*2.53)
lFoot = jointMotion[0].skeleton.getElementIndex('LeftFoot')
rFoot = jointMotion[0].skeleton.getElementIndex('RightFoot')
hRef = .1; vRef = .3
lc = yma.getElementContactStates(jointMotion, lFoot, hRef, vRef)
interval = yba.getWalkingCycle(jointMotion, lc)
# interval = [60, 102]
extendedMotion = repeatCycle(jointMotion, interval, 10, 10)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('jointMotion', yr.JointMotionRenderer(jointMotion, (0,0,255), yr.LINK_LINE))
viewer.doc.addObject('jointMotion', jointMotion)
viewer.doc.addRenderer('extendedMotion', yr.JointMotionRenderer(extendedMotion, (0,255,0), yr.LINK_LINE))
viewer.doc.addObject('extendedMotion', extendedMotion)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_getWalkingCycle():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
jointMotion = yf.readBvhFile(bvhFilePath, .01)
lFoot = jointMotion[0].skeleton.getElementIndex('LeftFoot')
rFoot = jointMotion[0].skeleton.getElementIndex('RightFoot')
hRef = .1
vRef = .3
lc = yma.getElementContactStates(jointMotion, lFoot, hRef, vRef)
# rc = getElementContactStates(jointMotion, rFoot, hRef, vRef)
interval = getWalkingCycle(jointMotion, lc)
cycleMotion = jointMotion[interval[0]:interval[-1] + 1]
startMotion = cycleMotion[:1]
endMotion = cycleMotion[-1:]
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'jointMotion',
yr.JointMotionRenderer(jointMotion, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('jointMotion', jointMotion)
viewer.doc.addRenderer(
'startMotion',
yr.JointMotionRenderer(startMotion, (0, 255, 0), yr.LINK_LINE))
viewer.doc.addObject('startMotion', startMotion)
viewer.doc.addRenderer(
'endMotion',
yr.JointMotionRenderer(endMotion, (0, 255, 0), yr.LINK_LINE))
viewer.doc.addObject('endMotion', endMotion)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_getWalkingCycle():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
jointMotion = yf.readBvhFile(bvhFilePath, .01)
lFoot = jointMotion[0].skeleton.getElementIndex('LeftFoot')
rFoot = jointMotion[0].skeleton.getElementIndex('RightFoot')
hRef = .1; vRef = .3
lc = yma.getElementContactStates(jointMotion, lFoot, hRef, vRef)
# rc = getElementContactStates(jointMotion, rFoot, hRef, vRef)
interval = getWalkingCycle(jointMotion, lc)
cycleMotion = jointMotion[interval[0]:interval[-1]+1]
startMotion = cycleMotion[:1]
endMotion = cycleMotion[-1:]
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('jointMotion', yr.JointMotionRenderer(jointMotion, (0,0,255), yr.LINK_LINE))
viewer.doc.addObject('jointMotion', jointMotion)
viewer.doc.addRenderer('startMotion', yr.JointMotionRenderer(startMotion, (0,255,0), yr.LINK_LINE))
viewer.doc.addObject('startMotion', startMotion)
viewer.doc.addRenderer('endMotion', yr.JointMotionRenderer(endMotion, (0,255,0), yr.LINK_LINE))
viewer.doc.addObject('endMotion', endMotion)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_repeatCycle():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
jointMotion = yf.readBvhFile(bvhFilePath, .01)
# bvhFilePath = '../samples/wd2_n_kick.bvh'
# jointMotion = yf.readBvhFile(bvhFilePath, .01*2.53)
lFoot = jointMotion[0].skeleton.getElementIndex('LeftFoot')
rFoot = jointMotion[0].skeleton.getElementIndex('RightFoot')
hRef = .1; vRef = .3
lc = yma.getElementContactStates(jointMotion, lFoot, hRef, vRef)
interval = yba.getWalkingCycle(jointMotion, lc)
# interval = [60, 102]
extendedMotion = repeatCycle(jointMotion, interval, 10, 10)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('jointMotion', yr.JointMotionRenderer(jointMotion, (0,0,255), yr.LINK_LINE))
viewer.doc.addObject('jointMotion', jointMotion)
viewer.doc.addRenderer('extendedMotion', yr.JointMotionRenderer(extendedMotion, (0,255,0), yr.LINK_LINE))
viewer.doc.addObject('extendedMotion', extendedMotion)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
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]
def test_getWalkingSteps():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
motion = motion[:-10]
lFoot = motion[0].skeleton.getElementIndex('LeftFoot')
rFoot = motion[0].skeleton.getElementIndex('RightFoot')
hRef = .1
vRef = .3
lc = yma.getElementContactStates(motion, lFoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rFoot, hRef, vRef)
t, l_landing = yma.getTakingLandingFrames(lc)
t, r_landing = yma.getTakingLandingFrames(rc)
landing = l_landing + r_landing
landing.sort()
print 'landingFrames', landing
# steps = getWalkingSteps(lc, rc, True)
steps = getWalkingSteps(lc, rc, True, False)
# steps = getWalkingSteps(lc, rc, False)
print 'steps', steps
print
stepMotions = yma.splitMotionIntoSegments(motion, steps)
for i in range(len(steps)):
print 'stepMotions[%d]: motion[%d]~motion[%d], len %d' % (
i, steps[i][0], steps[i][1], len(stepMotions[i]))
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'motion',
yr.JointMotionRenderer(motion, (0, 100, 255), yr.LINK_LINE, 3.))
viewer.doc.addObject('motion', motion)
for i in range(len(steps)):
viewer.doc.addRenderer(
'stepMotions[%d]' % i,
yr.JointMotionRenderer(stepMotions[i], (0, 255, 0),
yr.LINK_LINE, 3.))
viewer.doc.addObject('stepMotions[%d]', stepMotions[i])
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_stitch_fix_foot():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
print motion[0].skeleton
print
hRef = .1; vRef = .3
lfoot = motion[0].skeleton.getElementIndex('LeftFoot')
rfoot = motion[0].skeleton.getElementIndex('RightFoot')
rtoe = motion[0].skeleton.getElementIndex('RightToes_Effector')
lc = yma.getElementContactStates(motion, lfoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rfoot, hRef, vRef)
intervals, states = yba.getBipedGaitIntervals(lc, rc, 10, .1)
segments = yma.splitMotionIntoSegments(motion, intervals)
print 'wd2_WalkSameSame00'
print intervals
print [yba.GaitState.text[state] for state in states]
def additionalEdit(motion, path):
if 'wd2_left_turn.bvh' in path or 'wd2_right_turn.bvh' in path:
lFoot = motion[0].skeleton.getJointIndex('LeftFoot')
yte.setPositionTarget(motion, lFoot, motion[0].getJointPositionGlobal(lFoot)+(-.1,0,-.1)\
, [0,58], 150)
if 'extended' in path:
hRef = .15; vRef = .2
lc = yma.getElementContactStates(motion, 'LeftFoot', hRef, vRef)
interval = yba.getWalkingCycle(motion, lc)
motion[:] = ymt.repeatCycle(motion, interval, 50, 10)
def test_stitch():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion0 = yf.readBvhFile(bvhFilePath, .01)
bvhFilePath = '../samples/wd2_WalkForwardVFast00.bvh'
motion1 = yf.readBvhFile(bvhFilePath, .01)
hRef = .1; vRef = .3
LHEEL = motion0[0].skeleton.getElementIndex('LeftFoot')
RHEEL = motion0[0].skeleton.getElementIndex('RightFoot')
lc0 = yma.getElementContactStates(motion0, LHEEL, hRef, vRef)
rc0 = yma.getElementContactStates(motion0, RHEEL, hRef, vRef)
lc1 = yma.getElementContactStates(motion1, LHEEL, hRef, vRef)
rc1 = yma.getElementContactStates(motion1, RHEEL, hRef, vRef)
intervals0, states0 = yba.getBipedGaitIntervals(lc0, rc0, 10, .1)
intervals1, states1 = yba.getBipedGaitIntervals(lc1, rc1, 10, .1)
print 'wd2_WalkSameSame00'
print intervals0
print [yba.GaitState.text[state] for state in states0]
def additionalEdit(motion, path):
if 'wd2_left_turn.bvh' in path or 'wd2_right_turn.bvh' in path:
lFoot = motion[0].skeleton.getJointIndex('LeftFoot')
yte.setPositionTarget(motion, lFoot, motion[0].getJointPositionGlobal(lFoot)+(-.1,0,-.1)\
, [0,58], 150)
if 'extended' in path:
hRef = .15; vRef = .2
lc = yma.getElementContactStates(motion, 'LeftFoot', hRef, vRef)
interval = yba.getWalkingCycle(motion, lc)
motion[:] = ymt.repeatCycle(motion, interval, 50, 10)
def test_getStitchedNextMotion():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
lFoot = motion[0].skeleton.getElementIndex('LeftFoot')
rFoot = motion[0].skeleton.getElementIndex('RightFoot')
hRef = .1; vRef = .3
lc = yma.getElementContactStates(motion, lFoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rFoot, hRef, vRef)
steps = yba.getWalkingSteps(lc, rc, True)
stepMotions = yma.splitMotionIntoSegments(motion, steps)
motion_stitch = stepMotions[0]
motion_getStitchedNextMotion = stepMotions[0]
print len(motion_stitch), len(motion_getStitchedNextMotion)
for i in range(1, len(stepMotions)):
stepMotions[i] = stepMotions[i][:-5]
motion_stitch = stitch(motion_stitch, stepMotions[i], 5)
stitched = getStitchedNextMotion(stepMotions[i], motion_getStitchedNextMotion[-1], 5)
motion_getStitchedNextMotion += stitched
print len(motion_stitch), len(motion_getStitchedNextMotion)
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.doc.addRenderer('motion_stitch', yr.JointMotionRenderer(motion_stitch, (0,255,0), yr.LINK_LINE))
viewer.doc.addObject('motion_stitch', motion_stitch)
viewer.doc.addRenderer('motion_getStitchedNextMotion', yr.JointMotionRenderer(motion_getStitchedNextMotion, (255,255,0), yr.LINK_LINE))
viewer.doc.addObject('motion_getStitchedNextMotion', motion_getStitchedNextMotion)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_late_foottouch():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
lFoot = motion[0].skeleton.getElementIndex('LeftFoot')
rFoot = motion[0].skeleton.getElementIndex('RightFoot')
hRef = .1; vRef = .3
lc = yma.getElementContactStates(motion, lFoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rFoot, hRef, vRef)
steps = yba.getWalkingSteps(lc, rc, True)
stepMotions = yma.splitMotionIntoSegments(motion, steps)
lateCycle = 2
howLate = 5
print 'steps[%d] :'%lateCycle
print 'motion[%d]~motion[%d] => '%(steps[lateCycle][0], steps[lateCycle][1]),
print 'motion_latetouch[%d]~motion_earyltouch[%d]'%(steps[lateCycle][0], steps[lateCycle][1]+howLate)
motion_latetouch = stepMotions[0]
for i in range(1, len(stepMotions)):
if i==lateCycle:
stepMotions[i].extend(ymt.extendByIntegration(stepMotions[i], howLate))
# stitched = getStitchedNextMotion(stepMotions[i], motion_latetouch[-1], len(stepMotions[i])-1, yfg.halfsine)
stitched = getStitchedNextMotion(stepMotions[i], motion_latetouch[-1], len(stepMotions[i])-1, yfg.hermite2nd)
# stitched = getStitchedNextMotion(stepMotions[i], motion_latetouch[-1], len(stepMotions[i])-1, yfg.identity)
motion_latetouch += stitched
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (100,100,255), yr.LINK_LINE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('motion_latetouch', yr.JointMotionRenderer(motion_latetouch, (0,255,0), yr.LINK_LINE))
viewer.doc.addObject('motion_latetouch', motion_latetouch)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
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 test_getWalkingSteps():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
motion = motion[:-10]
lFoot = motion[0].skeleton.getElementIndex('LeftFoot')
rFoot = motion[0].skeleton.getElementIndex('RightFoot')
hRef = .1; vRef = .3
lc = yma.getElementContactStates(motion, lFoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rFoot, hRef, vRef)
t, l_landing = yma.getTakingLandingFrames(lc)
t, r_landing = yma.getTakingLandingFrames(rc)
landing = l_landing + r_landing
landing.sort()
print 'landingFrames', landing
# steps = getWalkingSteps(lc, rc, True)
steps = getWalkingSteps(lc, rc, True, False)
# steps = getWalkingSteps(lc, rc, False)
print 'steps', steps
print
stepMotions = yma.splitMotionIntoSegments(motion, steps)
for i in range(len(steps)):
print 'stepMotions[%d]: motion[%d]~motion[%d], len %d'%(i, steps[i][0], steps[i][1], len(stepMotions[i]))
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,100,255), yr.LINK_LINE, 3.))
viewer.doc.addObject('motion', motion)
for i in range(len(steps)):
viewer.doc.addRenderer('stepMotions[%d]'%i, yr.JointMotionRenderer(stepMotions[i], (0,255,0), yr.LINK_LINE, 3.))
viewer.doc.addObject('stepMotions[%d]', stepMotions[i])
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
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 segmentMotion(motion,
hRef=0.1,
vRef=0.4,
partsNames=[
"LeftFoot", "RightFoot", "LeftLeg", "RightLeg",
"LeftUpLeg", "RightUpLeg"
],
jumpThreshold=15,
jumpBias=1.0,
stopThreshold=15,
stopBias=0.0):
skeleton = motion[0].skeleton
lFoot = skeleton.getJointIndex(partsNames[0])
rFoot = skeleton.getJointIndex(partsNames[1])
lKnee = skeleton.getJointIndex(partsNames[2])
rKnee = skeleton.getJointIndex(partsNames[3])
lHip = skeleton.getJointIndex(partsNames[4])
rHip = skeleton.getJointIndex(partsNames[5])
#lc = yma.getElementContactStates(motion, lFoot, hRef, vRef)
#rc = yma.getElementContactStates(motion, rFoot, hRef, vRef)
lc = yma.getElementContactStates(motion, "LeftFoot", hRef, vRef)
rc = yma.getElementContactStates(motion, "RightFoot", hRef, vRef)
intervals, states = yba.getBipedGaitIntervals2(lc, rc, jumpThreshold,
jumpBias, stopThreshold,
stopBias)
motions = yma.splitMotionIntoSegments(motion.copy(), intervals)
seginfos = [{} for i in range(len(intervals))]
for i in range(len(intervals)):
start = intervals[i][0]
end = intervals[i][1]
seginfos[i]['interval'] = intervals[i]
seginfos[i]['state'] = states[i]
stanceHips = []
swingHips = []
stanceFoots = []
swingFoots = []
swingKnees = []
if states[i] == yba.GaitState.LSWING:
stanceHips = [rHip]
stanceFoots = [rFoot]
swingHips = [lHip]
swingFoots = [lFoot]
swingKnees = [lKnee]
elif states[i] == yba.GaitState.RSWING:
stanceHips = [lHip]
stanceFoots = [lFoot]
swingHips = [rHip]
swingFoots = [rFoot]
swingKnees = [rKnee]
elif states[i] == yba.GaitState.STOP:
stanceHips = [rHip, lHip]
stanceFoots = [rFoot, lFoot]
elif states[i] == yba.GaitState.JUMP:
swingHips = [rHip, lHip]
swingFoots = [rFoot, lFoot]
seginfos[i]['stanceHips'] = stanceHips
seginfos[i]['swingHips'] = swingHips
seginfos[i]['stanceFoots'] = stanceFoots
seginfos[i]['swingFoots'] = swingFoots
seginfos[i]['swingKnees'] = swingKnees
if start < end:
seginfos[i]['ground_height'] = min([
posture_seg.getJointPositionGlobal(foot)[1]
for foot in [lFoot, rFoot] for posture_seg in motion[start:end]
])
return motions, seginfos
#===============================================================================
# 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)
segments = yma.splitMotionIntoSegments(motion, intervals)
lFoot = motion[0].skeleton.getJointIndex('LeftFoot')
rFoot = motion[0].skeleton.getJointIndex('RightFoot')
CM_vels = [None]*len(intervals)
stepLengths = [None]*len(intervals)
stepDurations = [None]*len(intervals)
print(' CM vel step length step duration')
for i in range(len(intervals)):
startFrame = intervals[i][0]
import Util.ysMatplotEx as ymp
if __name__ == "__main__":
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
# bvhFilePath = 'samples/wd2_2foot_walk_turn2.bvh'
# bvhFilePath = 'samples/wd2_WalkSukiko00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
LFOOT = motion[0].skeleton.getElementIndex('LeftFoot')
RFOOT = motion[0].skeleton.getElementIndex('RightFoot')
LTOE = motion[0].skeleton.getElementIndex('LeftToes')
RTOE = motion[0].skeleton.getElementIndex('RightToes')
hRef = .1
vRef = .5
clHeel = yma.getElementContactStates(motion, LFOOT, hRef, vRef)
crHeel = yma.getElementContactStates(motion, RFOOT, hRef, vRef)
clToe = yma.getElementContactStates(motion, LTOE, hRef, vRef)
crToe = yma.getElementContactStates(motion, RTOE, hRef, vRef)
clFoot = list(map(op.or_, clHeel, clToe))
crFoot = list(map(op.or_, crHeel, crToe))
lFootStates = yma.getFootStates(clHeel, clToe)
rFootStates = yma.getFootStates(crHeel, crToe)
lIntervals, lStates = yma.states2intervals(lFootStates)
rIntervals, rStates = yma.states2intervals(rFootStates)
footNames = [LFOOT, RFOOT]
horizontalDirection = mm.vec3(-1, 0, 0)
horizontalRight = np.cross(horizontalDirection, (0, 1, 0))
horizontalLeft = -horizontalRight
def test_stitch():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion0 = yf.readBvhFile(bvhFilePath, .01)
bvhFilePath = '../samples/wd2_WalkForwardVFast00.bvh'
motion1 = yf.readBvhFile(bvhFilePath, .01)
hRef = .1
vRef = .3
LHEEL = motion0[0].skeleton.getElementIndex('LeftFoot')
RHEEL = motion0[0].skeleton.getElementIndex('RightFoot')
lc0 = yma.getElementContactStates(motion0, LHEEL, hRef, vRef)
rc0 = yma.getElementContactStates(motion0, RHEEL, hRef, vRef)
lc1 = yma.getElementContactStates(motion1, LHEEL, hRef, vRef)
rc1 = yma.getElementContactStates(motion1, RHEEL, hRef, vRef)
intervals0, states0 = yba.getBipedGaitIntervals(lc0, rc0, 10, .1)
intervals1, states1 = yba.getBipedGaitIntervals(lc1, rc1, 10, .1)
print('wd2_WalkSameSame00')
print(intervals0)
print([yba.GaitState.text[state] for state in states0])
print('wd2_WalkForwardVFast00')
print(intervals1)
print([yba.GaitState.text[state] for state in states1])
print()
seg = 3
tlen = 10
print('motion0[:%d] + motion1[%d:]' %
(intervals0[seg][1], intervals1[seg][1]))
print('transition length', tlen)
print('stitched_0changed',
'%d~%d' % (intervals0[seg][1] - tlen, intervals0[seg][1]))
print('stitched_1changed',
'%d~%d' % (intervals0[seg][1], intervals0[seg][1] + tlen))
print()
just_added = motion0[:intervals0[seg][1]] + motion1[intervals1[seg][1]:]
print('len(just_added)', len(just_added))
stitched_0changed = stitch(motion0[:intervals0[seg][1]],
motion1[intervals1[seg][1] - 1:], tlen,
yfg.identity, True)
print('len(stitched_0changed)', len(stitched_0changed))
stitched_1changed = stitch(motion0[:intervals0[seg][1]],
motion1[intervals1[seg][1] - 1:], tlen,
yfg.identity, False)
print('len(stitched_1changed)', len(stitched_1changed))
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'just_added',
yr.JointMotionRenderer(just_added, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('just_added', just_added)
viewer.doc.addRenderer(
'stitched_0changed',
yr.JointMotionRenderer(stitched_0changed, (0, 255, 0),
yr.LINK_LINE))
viewer.doc.addObject('stitched_0changed', stitched_0changed)
viewer.doc.addRenderer(
'stitched_1changed',
yr.JointMotionRenderer(stitched_1changed, (255, 255, 0),
yr.LINK_LINE))
viewer.doc.addObject('stitched_1changed', stitched_1changed)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def preprocess():
tasks = []
# outputDir = './ppmotion/'
#
# dir = '../Data/woody2/Motion/Physics2/'
# 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)
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
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'
def test_stitch_fix_foot():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
print(motion[0].skeleton)
print()
hRef = .1
vRef = .3
lfoot = motion[0].skeleton.getElementIndex('LeftFoot')
rfoot = motion[0].skeleton.getElementIndex('RightFoot')
rtoe = motion[0].skeleton.getElementIndex('RightToes_Effector')
lc = yma.getElementContactStates(motion, lfoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rfoot, hRef, vRef)
intervals, states = yba.getBipedGaitIntervals(lc, rc, 10, .1)
segments = yma.splitMotionIntoSegments(motion, intervals)
print('wd2_WalkSameSame00')
print(intervals)
print([yba.GaitState.text[state] for state in states])
print()
shorten = 5
tlen = 10
transitionFunc = yfg.identity
motion_stitch = copy.copy(segments[0])
# just add
motion_stitch.extend(segments[1][1:])
# add shorter segment
motion_stitch.extend(segments[2][1:-shorten])
# stitch
motion_stitch_foot = copy.deepcopy(motion_stitch)
print('transition interval: %d~%d' %
(len(motion_stitch), len(motion_stitch) + tlen))
motion_stitch.extend(
ymb.getStitchedNextMotion(segments[3], motion_stitch[-1], tlen,
transitionFunc))
startFrame = len(motion_stitch_foot) - 1
motion_stitch_foot.extend(
ymb.getStitchedNextMotion(segments[3], motion_stitch_foot[-1],
tlen, transitionFunc))
fixPosition(motion_stitch_foot, rtoe, startFrame, startFrame + 4)
# just add remain parts
for i in range(4, len(segments)):
motion_stitch.extend(
ymb.getStitchedNextMotion(segments[i], motion_stitch[-1], tlen,
transitionFunc))
motion_stitch_foot.extend(
ymb.getStitchedNextMotion(segments[i], motion_stitch_foot[-1],
tlen, transitionFunc))
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'ys_motion',
yr.JointMotionRenderer(motion, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('ys_motion', motion)
viewer.doc.addRenderer(
'motion_stitch',
yr.JointMotionRenderer(motion_stitch, (0, 255, 0), yr.LINK_LINE))
viewer.doc.addObject('motion_stitch', motion_stitch)
viewer.doc.addRenderer(
'motion_stitch_foot',
yr.JointMotionRenderer(motion_stitch_foot, (255, 255, 0),
yr.LINK_LINE))
viewer.doc.addObject('motion_stitch_foot', motion_stitch_foot)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
lKnee = skeleton.getJointIndex('LeftLeg'); rKnee = skeleton.getJointIndex('RightLeg')
lFoot = skeleton.getJointIndex('LeftFoot'); rFoot = skeleton.getJointIndex('RightFoot')
# mcfgfile = open(dir + 'mcfg', 'r')
# mcfg = cPickle.load(mcfgfile)
# mcfgfile.close()
# wcfg = ypc.WorldConfig()
# vpWorld = cvw.VpWorld(wcfg)
# motionModel = cvm.VpMotionModel(vpWorld, motion_ori[0], mcfg)
#
## bodyMasses = getBodyMasses()
# bodyMasses = motionModel.getBodyMasses()
# uppers = [skeleton.getJointIndex(name) for name in ['Hips', 'Spine', 'Spine1', 'LeftArm', 'LeftForeArm', 'RightArm', 'RightForeArm']]
# upperMass = sum([bodyMasses[i] for i in uppers])
lc = yma.getElementContactStates(motion_ori, 'LeftFoot', hRef, vRef)
rc = yma.getElementContactStates(motion_ori, 'RightFoot', hRef, vRef)
# intervals, states = yba.getBipedGaitIntervals(lc, rc, jumpThreshold, jumpBias, stopThreshold, stopBias)
intervals, states = yba.getBipedGaitIntervals2(lc, rc, jumpThreshold, jumpBias, stopThreshold, stopBias)
seginfos = [{} for i in range(len(intervals))]
for i in range(len(intervals)):
start = intervals[i][0]; end = intervals[i][1]
seginfos[i]['interval'] = intervals[i]
seginfos[i]['state'] = states[i]
# print yba.GaitState.text[states[i]], intervals[i]
stanceHips = []; swingHips = []; stanceFoots = []; swingFoots = []; swingKnees = []
if states[i]==yba.GaitState.LSWING: stanceHips = [rHip]; stanceFoots = [rFoot]; swingHips = [lHip]; swingFoots = [lFoot]; swingKnees = [lKnee]
elif states[i]==yba.GaitState.RSWING: stanceHips = [lHip]; stanceFoots = [lFoot]; swingHips = [rHip]; swingFoots = [rFoot]; swingKnees = [rKnee]
def preprocess():
tasks = []
# outputDir = './ppmotion/'
#
# dir = '../Data/woody2/Motion/Physics2/'
# 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)
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
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'
def test_getStitchedNextMotion2():
bvhFilePath = '../samples/walk_left_90degree.bvh'
motion = yf.readBvhFile(bvhFilePath)
lFoot = motion[0].skeleton.getElementIndex('LeftFoot')
rFoot = motion[0].skeleton.getElementIndex('RightFoot')
hRef = .1; vRef = .3
lc = yma.getElementContactStates(motion, lFoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rFoot, hRef, vRef)
steps = yba.getWalkingSteps(lc, rc, True)
stepMotions = yma.splitMotionIntoSegments(motion, steps)
print steps
earlyCycle = 3
howEarly = 10
transitionFunc = lambda x:1.-yfg.hermite2nd(x)
print 'steps[%d] :'%earlyCycle
print 'motion[%d]~motion[%d] => '%(steps[earlyCycle][0], steps[earlyCycle][1]),
print 'motion_stitched_trans_rot[%d]~motion_stitched_trans_rot[%d]'%(steps[earlyCycle][0], steps[earlyCycle][1]-howEarly)
motion_stitched_trans = stepMotions[0].copy()
motion_stitched_trans_rot = stepMotions[0].copy()
motion_stitched_d = stepMotions[0].copy()
motion_attached = stepMotions[0].copy()
for i in range(1, len(stepMotions)):
if i==earlyCycle:
stepMotions[i] = stepMotions[i][:-howEarly]
# motion_stitched_trans += getStitchedNextMotion(stepMotions[i], motion_stitched_trans[-1], len(stepMotions[i])-1, transitionFunc, True, False)
motion_stitched_trans_rot += getStitchedNextMotion(stepMotions[i].copy(), motion_stitched_trans_rot[-1], len(stepMotions[i])-1, transitionFunc, True, True)
# d = motion_stitched_d[-1] - stepMotions[i][0]
# motion_stitched_d += getStitchedNextMotion(stepMotions[i], d, len(stepMotions[i])-1, transitionFunc, True, True)
# motion_attached += getStitchedNextMotion(stepMotions[i], motion_attached[-1], len(stepMotions[i])-1, yfg.zero, True, True)
motion_attached += getAttachedNextMotion(stepMotions[i], motion_attached[-1], len(stepMotions[i])-1, yfg.zero, True, True)
frame0 = [mm.I_SE3()]
viewer = ysv.SimpleViewer()
viewer.record(False)
# viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (100,100,255), yr.LINK_LINE))
# viewer.doc.addObject('motion', motion)
# viewer.doc.addRenderer('motion_stitched_trans', yr.JointMotionRenderer(motion_stitched_trans, (255,255,0), yr.LINK_LINE))
# viewer.doc.addObject('motion_stitched_trans', motion_stitched_trans)
viewer.doc.addRenderer('motion_stitched_trans_rot', yr.JointMotionRenderer(motion_stitched_trans_rot, (0,255,0), yr.LINK_LINE))
viewer.doc.addObject('motion_stitched_trans_rot', motion_stitched_trans_rot)
viewer.doc.addRenderer('motion_attached', yr.JointMotionRenderer(motion_attached, (255,255,255), yr.LINK_LINE))
viewer.doc.addObject('motion_attached', motion_attached)
viewer.doc.addRenderer('frame0', yr.FramesRenderer(frame0, (255,255,0)))
def simulateCallback(frame):
frame0[0] = motion_stitched_trans_rot[frame].getJointFrame(0)
# frame0[0] = motion_attached[frame].getJointFrame(0)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer((1/30.)/1.4)
viewer.show()
Fl.run()
def test_getStitchedNextMotion2():
bvhFilePath = '../samples/walk_left_90degree.bvh'
motion = yf.readBvhFile(bvhFilePath)
lFoot = motion[0].skeleton.getElementIndex('LeftFoot')
rFoot = motion[0].skeleton.getElementIndex('RightFoot')
hRef = .1
vRef = .3
lc = yma.getElementContactStates(motion, lFoot, hRef, vRef)
rc = yma.getElementContactStates(motion, rFoot, hRef, vRef)
steps = yba.getWalkingSteps(lc, rc, True)
stepMotions = yma.splitMotionIntoSegments(motion, steps)
print(steps)
earlyCycle = 3
howEarly = 10
transitionFunc = lambda x: 1. - yfg.hermite2nd(x)
print('steps[%d] :' % earlyCycle)
print('ys_motion[%d]~ys_motion[%d] => ' %
(steps[earlyCycle][0], steps[earlyCycle][1]),
end=' ')
print('motion_stitched_trans_rot[%d]~motion_stitched_trans_rot[%d]' %
(steps[earlyCycle][0], steps[earlyCycle][1] - howEarly))
motion_stitched_trans = stepMotions[0].copy()
motion_stitched_trans_rot = stepMotions[0].copy()
motion_stitched_d = stepMotions[0].copy()
motion_attached = stepMotions[0].copy()
for i in range(1, len(stepMotions)):
if i == earlyCycle:
stepMotions[i] = stepMotions[i][:-howEarly]
# motion_stitched_trans += getStitchedNextMotion(stepMotions[i], motion_stitched_trans[-1], len(stepMotions[i])-1, transitionFunc, True, False)
motion_stitched_trans_rot += getStitchedNextMotion(
stepMotions[i].copy(), motion_stitched_trans_rot[-1],
len(stepMotions[i]) - 1, transitionFunc, True, True)
# d = motion_stitched_d[-1] - stepMotions[i][0]
# motion_stitched_d += getStitchedNextMotion(stepMotions[i], d, len(stepMotions[i])-1, transitionFunc, True, True)
# motion_attached += getStitchedNextMotion(stepMotions[i], motion_attached[-1], len(stepMotions[i])-1, yfg.zero, True, True)
motion_attached += getAttachedNextMotion(stepMotions[i],
motion_attached[-1],
len(stepMotions[i]) - 1,
yfg.zero, True, True)
frame0 = [mm.i_se3()]
viewer = ysv.SimpleViewer()
viewer.record(False)
# viewer.doc.addRenderer('ys_motion', yr.JointMotionRenderer(ys_motion, (100,100,255), yr.LINK_LINE))
# viewer.doc.addObject('ys_motion', ys_motion)
# viewer.doc.addRenderer('motion_stitched_trans', yr.JointMotionRenderer(motion_stitched_trans, (255,255,0), yr.LINK_LINE))
# viewer.doc.addObject('motion_stitched_trans', motion_stitched_trans)
viewer.doc.addRenderer(
'motion_stitched_trans_rot',
yr.JointMotionRenderer(motion_stitched_trans_rot, (0, 255, 0),
yr.LINK_LINE))
viewer.doc.addObject('motion_stitched_trans_rot',
motion_stitched_trans_rot)
viewer.doc.addRenderer(
'motion_attached',
yr.JointMotionRenderer(motion_attached, (255, 255, 255),
yr.LINK_LINE))
viewer.doc.addObject('motion_attached', motion_attached)
viewer.doc.addRenderer('frame0',
yr.FramesRenderer(frame0, (255, 255, 0)))
def simulateCallback(frame):
frame0[0] = motion_stitched_trans_rot[frame].getJointFrame(0)
# frame0[0] = motion_attached[frame].getJointFrame(0)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer((1 / 30.) / 1.4)
viewer.show()
Fl.run()
