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A fork version of ARCSim-HYLC to support SMPL Model

This repo is based on ARCSim-HYLC for the compatibility of SMPL, which is also a fork version of arcsim

addons

  • SMPL forward kinematics (based on SMPL_cpp)
  • SMPL integration with ARCSim (forwarded SMPL model as the obstacle)
  • SMPL shape interpolation and pose interpolation to simulate any SMPL pose (for the details of interpolation, refer to Discussion)
  • a play option like original replay, for checkout the SMPL motion and don't care the cloth

fields:

  • is_smpl
  • motions->smpl_fps how fast smpl model act
  • motions->smpl_motfile
  • motions->smpl_initialization_steps (for shape and pose interpolation)

Usage

  • Simulate a simple motion jumping with shape / pose interpolation

    • ./build-Release/bin/arcsim_0.2.1 simulate smpl_demo/jump.json

  • Just checkout the motion and save each screen shot to some directory(optional)

    • ./build-Release/bin/arcsim_0.2.1 play smpl_demo/jump.json vis

    • the visualization will be saved to vis directory, this is a useful tool for the visualization of MoCap sequences

Demo(simulate mode)

TODOs

  • Support SMPL female model (now only male model is supported)
  • Support CMU MoCap sequence reading from npz or json file (now read from txt motion file)

Thanks for @isantesteban for valuable discussions