85 lines
2.5 KiB
Python
85 lines
2.5 KiB
Python
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# Copyright 2017 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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"""Demonstration of amc parsing for CMU mocap database.
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To run the demo, supply a path to a `.amc` file:
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python mocap_demo --filename='path/to/mocap.amc'
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CMU motion capture clips are available at mocap.cs.cmu.edu
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"""
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from __future__ import absolute_import
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from __future__ import division
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from __future__ import print_function
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import time
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# Internal dependencies.
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from absl import app
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from absl import flags
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from local_dm_control_suite import humanoid_CMU
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from dm_control.suite.utils import parse_amc
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import matplotlib.pyplot as plt
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import numpy as np
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FLAGS = flags.FLAGS
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flags.DEFINE_string('filename', None, 'amc file to be converted.')
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flags.DEFINE_integer('max_num_frames', 90,
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'Maximum number of frames for plotting/playback')
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def main(unused_argv):
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env = humanoid_CMU.stand()
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# Parse and convert specified clip.
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converted = parse_amc.convert(FLAGS.filename,
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env.physics, env.control_timestep())
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max_frame = min(FLAGS.max_num_frames, converted.qpos.shape[1] - 1)
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width = 480
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height = 480
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video = np.zeros((max_frame, height, 2 * width, 3), dtype=np.uint8)
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for i in range(max_frame):
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p_i = converted.qpos[:, i]
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with env.physics.reset_context():
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env.physics.data.qpos[:] = p_i
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video[i] = np.hstack([env.physics.render(height, width, camera_id=0),
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env.physics.render(height, width, camera_id=1)])
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tic = time.time()
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for i in range(max_frame):
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if i == 0:
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img = plt.imshow(video[i])
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else:
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img.set_data(video[i])
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toc = time.time()
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clock_dt = toc - tic
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tic = time.time()
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# Real-time playback not always possible as clock_dt > .03
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plt.pause(max(0.01, 0.03 - clock_dt)) # Need min display time > 0.0.
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plt.draw()
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plt.waitforbuttonpress()
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if __name__ == '__main__':
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flags.mark_flag_as_required('filename')
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app.run(main)
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