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xbpeng / DeepMimic

Motion imitation with deep reinforcement learning.
https://xbpeng.github.io/projects/DeepMimic/index.html
MIT License
2.31k stars 488 forks source link

Creating a custom character #167

Open jimzers opened 2 years ago

jimzers commented 2 years ago

Hi @xbpeng,

Was looking into implementing a custom rigged model with your DeepMimic software. I have a URDF file on hand, and was wondering if there was any suggested process to transfer it into the joint files in the .txt format in the data/characters folder (e.g. dog3d.txt, humanoid3d.txt.

Was also interested if there was any documentation on how you migrated the models for the dinosaur and atlas models into DeepMimic.

Would appreciate any help for these questions. Thanks!

xbpeng commented 2 years ago

Sorry, I'm afraid there's not automatic way to convert a urdf ino our custom format. You will likely need to rebuild your model in deepmimic. The overall structure of the model should be fairly similar as what's in a urdf. You need to define a kinematic tree that specifies how the joints are connected, and then specify how the rigid bodies are attached to each joint.

jimzers commented 2 years ago

Gotcha, thanks for the information @xbpeng - by chance would there be any documentation on your past workflows for building such a kinematic tree?

xbpeng commented 2 years ago

Sorry there's no additional doc besides what's in the readme. Feel free to ask if you have questions.