149 lines
6.3 KiB
Markdown
149 lines
6.3 KiB
Markdown
# Walker Bone Control
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In this tutorial we describe how to manually control and animate the
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skeletons of walkers from the CARLA Python API. The reference of
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all classes and methods available can be found at
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[Python API reference](python_api.md).
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* [__Walker skeleton structure__](#walker-skeleton-structure)
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* [__Manually control walker bones__](#manually-control-walker-bones)
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* [Connect to the simulator](#connect-to-the-simulator)
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* [Spawn a walker](#spawn-a-walker)
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* [Control walker skeletons](#control-walker-skeletons)
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!!! note
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**This document assumes the user is familiar with the Python API**. <br>
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The user should read the first steps tutorial before reading this document.
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[Core concepts](core_concepts.md).
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---
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## Walker skeleton structure
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All walkers have the same skeleton hierarchy and bone names. Below is an image of the skeleton
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hierarchy.
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```
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crl_root
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└── crl_hips__C
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├── crl_spine__C
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│ └── crl_spine01__C
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│ ├── ctrl_shoulder__L
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│ │ └── crl_arm__L
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│ │ └── crl_foreArm__L
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│ │ └── crl_hand__L
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│ │ ├── crl_handThumb__L
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│ │ │ └── crl_handThumb01__L
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│ │ │ └── crl_handThumb02__L
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│ │ │ └── crl_handThumbEnd__L
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│ │ ├── crl_handIndex__L
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│ │ │ └── crl_handIndex01__L
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│ │ │ └── crl_handIndex02__L
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│ │ │ └── crl_handIndexEnd__L
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│ │ ├── crl_handMiddle_L
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│ │ │ └── crl_handMiddle01__L
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│ │ │ └── crl_handMiddle02__L
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│ │ │ └── crl_handMiddleEnd__L
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│ │ ├── crl_handRing_L
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│ │ │ └── crl_handRing01__L
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│ │ │ └── crl_handRing02__L
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│ │ │ └── crl_handRingEnd__L
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│ │ └── crl_handPinky_L
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│ │ └── crl_handPinky01__L
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│ │ └── crl_handPinky02__L
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│ │ └── crl_handPinkyEnd__L
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│ ├── crl_neck__C
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│ │ └── crl_Head__C
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│ │ ├── crl_eye__L
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│ │ └── crl_eye__R
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│ └── crl_shoulder__R
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│ └── crl_arm__R
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│ └── crl_foreArm__R
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│ └── crl_hand__R
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│ ├── crl_handThumb__R
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│ │ └── crl_handThumb01__R
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│ │ └── crl_handThumb02__R
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│ │ └── crl_handThumbEnd__R
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│ ├── crl_handIndex__R
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│ │ └── crl_handIndex01__R
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│ │ └── crl_handIndex02__R
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│ │ └── crl_handIndexEnd__R
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│ ├── crl_handMiddle_R
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│ │ └── crl_handMiddle01__R
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│ │ └── crl_handMiddle02__R
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│ │ └── crl_handMiddleEnd__R
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│ ├── crl_handRing_R
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│ │ └── crl_handRing01__R
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│ │ └── crl_handRing02__R
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│ │ └── crl_handRingEnd__R
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│ └── crl_handPinky_R
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│ └── crl_handPinky01__R
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│ └── crl_handPinky02__R
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│ └── crl_handPinkyEnd__R
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├── crl_thigh__L
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│ └── crl_leg__L
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│ └── crl_foot__L
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│ └── crl_toe__L
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│ └── crl_toeEnd__L
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└── crl_thigh__R
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└── crl_leg__R
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└── crl_foot__R
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└── crl_toe__R
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└── crl_toeEnd__R
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```
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---
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## Manually control walker bones
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Following is a detailed step-by-step example of how to change the bone transforms of a walker
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from the CARLA Python API
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### Connect to the simulator
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Import neccessary libraries used in this example
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```py
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import carla
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import random
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```
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Initialize the carla client
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```py
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client = carla.Client('127.0.0.1', 2000)
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client.set_timeout(2.0)
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```
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### Spawn a walker
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Spawn a random walker at one of the map's spawn points
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```py
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world = client.get_world()
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blueprint = random.choice(self.world.get_blueprint_library().filter('walker.*'))
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spawn_points = world.get_map().get_spawn_points()
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spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
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world.try_spawn_actor(blueprint, spawn_point)
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```
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### Control walker skeletons
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A walker's skeleton can be modified by passing an instance of the WalkerBoneControl class
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to the walker's apply_control function. The WalkerBoneControl class contains the transforms
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of the bones to be modified. Its bone_transforms member is a list of tuples of value pairs
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where the first value is the bone name and the second value is the bone transform. The
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apply_control function can be called on every tick to animate a walker's skeleton. The
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location and rotation of each transform is relative to its parent. Therefore when a
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parent bone's transform is modified, the transforms of the child bones in model space
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will also be changed relatively.
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In the example below, the rotations of the walker's hands are set to be 90 degrees around
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the forward axis and the locations are set to the origin.
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```py
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control = carla.WalkerBoneControl()
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first_tuple = ('crl_hand__R', carla.Transform(rotation=carla.Rotation(roll=90)))
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second_tuple = ('crl_hand__L', carla.Transform(rotation=carla.Rotation(roll=90)))
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control.bone_transforms = [first_tuple, second_tuple]
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world.player.apply_control(control)
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```
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