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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
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Build a human like agent in mujoco via skin or mesh #581

Closed friedmainfunction closed 1 year ago

friedmainfunction commented 1 year ago

Hi, I'm new in mujoco community, it is so cool! And I'm trying to use MuJoCo to build a human like body for simulation, just like this paper does in Isaac Gym: image image https://xbpeng.github.io/projects/ASE/index.html I noticed that they use a humanoid body modeled in xml format, and then add a wonderful visualization, but it still simulates in simple humanoid in essential which corresponds to skin mechanism in mujoco. So, I am trying to do the same thing in mujoco.

Basically, I am trying to use the simple humanoid xml files as same as paper above and additional 3D skins with textures to do it. I have tried to utilize your example in https://github.com/deepmind/dm_control/blob/main/dm_control/suite/dog.xml, but details of it are omitted. Here are the questions which I am faced with:

  1. I only have .obj mesh files, and I don't know how to transform it into .skn format automatically. I think it's hard to describe all vertexes manually and I don't really understand how to bind the skins (suppose that I have them) with humanoid bones.
  2. Should I do it via skins? If you find I am in a wrong direction, please tell me the better solution!

I am working with Python bindings of mujoco-2.3.0 and Ubuntu 20.04. Here is the humanoid xml file: https://github.com/nv-tlabs/ASE/blob/main/ase/data/assets/mjcf/amp_humanoid.xml

It is appreciated if you can give any advice.

yuvaltassa commented 1 year ago

Yes, you should use skins.

Check out #128 for details.

friedmainfunction commented 1 year ago

Yes, you should use skins.

Check out #128 for details.

@yuvaltassa Thank you for replying! Before I open this issue, I have checkout that. What I still do not understand is how to determine the bind_postion, vertex_index and vertex_weight. I write a python script to show the data in your dog_skin.skn file, but I can't find the law in these data, and I don't know how to determine thousands positions and weights. Are there any tools or methodology to solve this problem? Please give me some advice, thanks. The data in your dog_skin.skn file is just like that: image which I don't know how to generate.

yuvaltassa commented 1 year ago

here is an example, it's the script that generates the vertex weights for the dog. (under "make skin")

friedmainfunction commented 1 year ago

Thanks!