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"""
This is where all skeleton related complex tasks are defined (skeleton state and skeleton
motion)
"""
import numpy as np
from .core import BasePlotterTask
from .simple_plotter_tasks import Draw3DDots, Draw3DLines, Draw3DTrail
[docs]class Draw3DSkeletonState(BasePlotterTask):
_lines_task: Draw3DLines # sub-task for drawing lines
_dots_task: Draw3DDots # sub-task for drawing dots
def __init__(
self,
task_name: str,
skeleton_state,
joints_color: str = "blue",
lines_color: str = "red",
alpha=1.0,
) -> None:
super().__init__(task_name=task_name, task_type="3DSkeletonState")
lines, dots, dot_names = Draw3DSkeletonState._get_lines_and_dots(skeleton_state)
self._lines_task = Draw3DLines(
self.get_scoped_name("bodies"), lines, lines_color, alpha=alpha
)
self._dots_task = Draw3DDots(
self.get_scoped_name("joints"), dots, dot_names, joints_color, alpha=alpha
)
@property
def name(self):
return "3DSkeleton"
[docs] def update(self, skeleton_state) -> None:
self._update(*Draw3DSkeletonState._get_lines_and_dots(skeleton_state))
@staticmethod
def _get_lines_and_dots(skeleton_state):
"""Get all the lines and dots needed to draw the skeleton state
"""
assert (
len(skeleton_state.tensor.shape) == 1
), "the state has to be zero dimensional"
dots = skeleton_state.global_translation.numpy()
dot_names = np.array(skeleton_state.skeleton_tree.node_names)
skeleton_tree = skeleton_state.skeleton_tree
parent_indices = skeleton_tree.parent_indices.numpy()
lines = []
for node_index in range(len(skeleton_tree)):
parent_index = parent_indices[node_index]
if parent_index != -1:
lines.append([dots[node_index], dots[parent_index]])
lines = np.array(lines)
return lines, dots, dot_names
def _update(self, lines, dots, dot_names) -> None:
self._lines_task.update(lines)
self._dots_task.update(dots, dot_names)
def __iter__(self):
yield from self._lines_task
yield from self._dots_task
[docs]class Draw3DSkeletonMotion(BasePlotterTask):
def __init__(
self,
task_name: str,
skeleton_motion,
frame_index=None,
joints_color="red",
lines_color="blue",
velocity_color="green",
angular_velocity_color="purple",
trail_color="black",
trail_length=10,
alpha=1.0,
) -> None:
super().__init__(task_name=task_name, task_type="3DSkeletonMotion")
self._trail_length = trail_length
self._skeleton_motion = skeleton_motion
# if frame_index is None:
curr_skeleton_motion = self._skeleton_motion.clone()
if frame_index is not None:
curr_skeleton_motion.tensor = self._skeleton_motion.tensor[frame_index, :]
# else:
# curr_skeleton_motion = self._skeleton_motion[frame_index, :]
self._skeleton_state_task = Draw3DSkeletonState(
self.get_scoped_name("skeleton_state"),
curr_skeleton_motion,
joints_color=joints_color,
lines_color=lines_color,
alpha=alpha,
)
vel_lines, avel_lines = Draw3DSkeletonMotion._get_vel_and_avel(
curr_skeleton_motion
)
self._com_pos = curr_skeleton_motion.root_translation.numpy()[
np.newaxis, ...
].repeat(trail_length, axis=0)
self._vel_task = Draw3DLines(
self.get_scoped_name("velocity"),
vel_lines,
velocity_color,
influence_lim=False,
alpha=alpha,
)
self._avel_task = Draw3DLines(
self.get_scoped_name("angular_velocity"),
avel_lines,
angular_velocity_color,
influence_lim=False,
alpha=alpha,
)
self._com_trail_task = Draw3DTrail(
self.get_scoped_name("com_trail"),
self._com_pos,
trail_color,
marker_size=2,
influence_lim=True,
alpha=alpha,
)
@property
def name(self):
return "3DSkeletonMotion"
[docs] def update(self, frame_index=None, reset_trail=False, skeleton_motion=None) -> None:
if skeleton_motion is not None:
self._skeleton_motion = skeleton_motion
curr_skeleton_motion = self._skeleton_motion.clone()
if frame_index is not None:
curr_skeleton_motion.tensor = curr_skeleton_motion.tensor[frame_index, :]
if reset_trail:
self._com_pos = curr_skeleton_motion.root_translation.numpy()[
np.newaxis, ...
].repeat(self._trail_length, axis=0)
else:
self._com_pos = np.concatenate(
(
curr_skeleton_motion.root_translation.numpy()[np.newaxis, ...],
self._com_pos[:-1],
),
axis=0,
)
# dot_names = np.array(curr_skeleton_motion.skeleton_tree.node_names)
self._skeleton_state_task.update(curr_skeleton_motion)
self._com_trail_task.update(self._com_pos)
self._update(*Draw3DSkeletonMotion._get_vel_and_avel(curr_skeleton_motion))
@staticmethod
def _get_vel_and_avel(skeleton_motion):
"""Get all the velocity and angular velocity lines
"""
pos = skeleton_motion.global_translation.numpy()
vel = skeleton_motion.global_velocity.numpy()
avel = skeleton_motion.global_angular_velocity.numpy()
vel_lines = np.stack((pos, pos + vel * 0.02), axis=1)
avel_lines = np.stack((pos, pos + avel * 0.01), axis=1)
return vel_lines, avel_lines
def _update(self, vel_lines, avel_lines) -> None:
self._vel_task.update(vel_lines)
self._avel_task.update(avel_lines)
def __iter__(self):
yield from self._skeleton_state_task
yield from self._vel_task
yield from self._avel_task
yield from self._com_trail_task
[docs]class Draw3DSkeletonMotions(BasePlotterTask):
def __init__(self, skeleton_motion_tasks) -> None:
self._skeleton_motion_tasks = skeleton_motion_tasks
@property
def name(self):
return "3DSkeletonMotions"
[docs] def update(self, frame_index) -> None:
list(map(lambda x: x.update(frame_index), self._skeleton_motion_tasks))
def __iter__(self):
yield from self._skeleton_state_tasks
