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ZhengyiLuo / SMPLSim

Simulating SMPL humanoid, supporting PHC/PHC-MJX/PULSE/SimXR code bases.
BSD 3-Clause "New" or "Revised" License
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Errors using example create_env #1

Closed dmnk1308 closed 5 months ago

dmnk1308 commented 6 months ago

Hi Zhengyi, First of all, thank you for making your work publicly available! Using your example in create_env.py, I am trying to set up an environment in which the motions from the AMASS dataset are available as trajectories. This will cause some problems 1) In the example you use an AMASS file that I cannot find and seems to be for Isaac and not for Mujoco. Can I simply download the SMPLH version of AMASS and concatenate individual trajectories? 2) The range of the action space is not between -1 and 1 for the SMPL model when creating the environment and I get an error. 3) Some functions like get_body_qposaddr or get_body_qveladdr have no reference to the function definition in smplenv.py. I assume the reference to mujoco_utils.py is missing here?

Thank you very much for your help

ZhengyiLuo commented 5 months ago

Sorry for the late reply!

Please use python examples/env_humanoid_test.py headless=False to test out the environment.

As for the range of actions, it should be between -1 and 1. Could you point me to what is the error?

get_body_qposaddr is in here

Rowing0914 commented 3 months ago

@dmnk1308 FYI, I found the likely motion files for this example.