| import numpy as np | |
| import time | |
| import mujoco | |
| import mujoco.viewer | |
| def mj_play(data, fr): | |
| m = mujoco.MjModel.from_xml_path('/path/of/robot.xml') | |
| m.opt.timestep = 1.0/fr | |
| d = mujoco.MjData(m) | |
| len = data.shape[0] | |
| step = 0 | |
| with mujoco.viewer.launch_passive(m, d, show_left_ui=False, show_right_ui=False) as viewer: | |
| while viewer.is_running() and step<len: | |
| step_start = time.time() | |
| d.qpos = data[step, :7+29] | |
| d.qpos[3] = data[step, 6] # to w first | |
| d.qpos[4:7] = data[step, 3:6] | |
| mujoco.mj_forward(m, d) | |
| viewer.sync() | |
| # Rudimentary time keeping, will drift relative to wall clock. | |
| step += 1 | |
| time_until_next_step = m.opt.timestep - (time.time() - step_start) | |
| if time_until_next_step > 0: | |
| time.sleep(time_until_next_step) | |
| def read_rtj(fpath): | |
| #get frame rate from file name | |
| fr = fpath[-12:-9] | |
| fr = int(fr[1:]) if fr[0]=='_' else int(fr) | |
| jpos = np.load(fpath) | |
| jpos[:,2] += 0.793 | |
| return jpos,fr | |
| if __name__ == '__main__': | |
| jpos, fr = read_rtj('/path/of/retargeted/amass/data.npy') | |
| mj_play(jpos, fr) | |