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ZhengyiLuo / PHC

Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars
https://zhengyiluo.github.io/PHC/
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Question on some parameters. #27

Closed yunzeliu closed 7 months ago

yunzeliu commented 8 months ago

Hi!

How is the offset_height parameter chosen in language_to_pose_server.py, and why is it necessary to perform a rotation operation on gen_mdm_motions? And could you explain the processing flow for gen_mdm_motions?

Thank you!

yunzeliu commented 8 months ago

And when I set --num_envs 2, how should I modify the code to pass in two identical j3d in language_to_pose_server.py? Are there any other revisions needed in phc/run.py? Thanks a lot!

ZhengyiLuo commented 8 months ago

offset_height is to make sure that the reference motion is on the ground;

MDM generates the motion in a different coordinate system than isaac gym, so we need rotate it to make it the same coordinate system. The processing flow of gen_mdm_motions basically involves processing the output from MDM, convert them into the isaac coordinate system, handle the root position (make them continuous), and pass it to the simulator.

For num_envs=2, basically you would need to generate two motions, and pass them to phc. Some modification would be needed in the humanoid_im_mcp_demo.py file.