File size: 1,194 Bytes
fb66ec4 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 |
import numpy as np
import time
import mujoco
import mujoco.viewer
def mj_play(data, fr):
m = mujoco.MjModel.from_xml_path('/path/of/robot.xml')
m.opt.timestep = 1.0/fr
d = mujoco.MjData(m)
len = data.shape[0]
step = 0
with mujoco.viewer.launch_passive(m, d, show_left_ui=False, show_right_ui=False) as viewer:
while viewer.is_running() and step<len:
step_start = time.time()
d.qpos = data[step, :7+29]
d.qpos[3] = data[step, 6] # to w first
d.qpos[4:7] = data[step, 3:6]
mujoco.mj_forward(m, d)
viewer.sync()
# Rudimentary time keeping, will drift relative to wall clock.
step += 1
time_until_next_step = m.opt.timestep - (time.time() - step_start)
if time_until_next_step > 0:
time.sleep(time_until_next_step)
def read_rtj(fpath):
#get frame rate from file name
fr = fpath[-12:-9]
fr = int(fr[1:]) if fr[0]=='_' else int(fr)
jpos = np.load(fpath)
jpos[:,2] += 0.793
return jpos,fr
if __name__ == '__main__':
jpos, fr = read_rtj('/path/of/retargeted/amass/data.npy')
mj_play(jpos, fr)
|