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xbpeng / DeepMimic

Motion imitation with deep reinforcement learning.
https://xbpeng.github.io/projects/DeepMimic/index.html
MIT License
2.33k stars 489 forks source link

Can load .vtp files #132

Open nodiz opened 4 years ago

nodiz commented 4 years ago

Is it possible to load .vtp files or other type of geometry files directly from the high-level txt? Otherwise, what is the advised pipeline to follow to modify the core?

Thank you very much for this great work!

xbpeng commented 4 years ago

There's no support for .vtp files at the moment. But there is some support for loading .obj files. The code for loading meshes is here: https://github.com/xbpeng/DeepMimic/blob/687945c8abde39fd24e1d175cc155f7cb8845729/DeepMimicCore/anim/Character.cpp#L451 You will need to modify the character file with the following changes: 1) "Meshes":[path/to/obj/file1.obj, path/to/obj/file2.obj], which is a list of obj files that you want to load. 2) in "DrawShapeDefs": change "Shape" to "null", then add "MeshID" corresponding to the mesh for that particular body part. The id will be the index of the mesh in the "Meshes" list. You can then adjust how the mesh is attached to each joint via AttchX/Y/Z and AttachThetaX/Y/Z.

nodiz commented 4 years ago

Thank you, this is cool! And can you set a custom inertia tensor for the components?