# 1 安装
## 1.1 安装依赖
``sudo apt install libgl1-mesa-dev libx11-dev libxrandr-dev libxi-dev``
``sudo apt install mesa-utils``
``sudo apt install clang``
``sudo apt install cmake``
C++:
- Bullet 2.88 (https://github.com/bulletphysics/bullet3/releases)
编译Bullet时，使用`USE_DOUBLE_PRECISION=OFF`禁用双精度。
``./build_cmake_pybullet_double.sh``
``cd build_cmake``
``sudo make install``
- Eigen (http://www.eigen.tuxfamily.org/index.php?title=Main_Page) (Version : 3.3.7)
``mkdir build``
``cmake ..``
``sudo make install``
- OpenGL >= 3.2
- freeglut (http://freeglut.sourceforge.net/) ( Version : 3.0.0 )
``cmake .``
``make``
``sudo make install``
- glew (http://glew.sourceforge.net/) ( Version : 2.1.0 )
``make``
``sudo make install``
``make clean``
Misc:
- SWIG (http://www.swig.org/) ( Version : 4.0.0 )
``./configure --without-pcre``
``make``
``sudo make install``
MPI必须在MPI4py之前安装;
- MPI
- Windows: https://docs.microsoft.com/en-us/message-passing-interface/microsoft-mpi
- Linux: `sudo apt install libopenmpi-dev`
Python:
- Python 3
- PyOpenGL (http://pyopengl.sourceforge.net/)
``pip install PyOpenGL PyOpenGL_accelerate``
- Tensorflow (https://www.tensorflow.org/) ( Vesrion : 1.13.1 )
``pip install tensorflow``
- MPI4Py (https://mpi4py.readthedocs.io/en/stable/install.html)
``pip install mpi4py``
## 1.2 编译工程
工程模拟环境采用C++，并使用SWIG进行python封装。
### 1.2.1 Linux
1. 修改文件`DeepMimicCore/Makefile`中下面选项:
- `EIGEN_DIR`: Eigen include directory
- `BULLET_INC_DIR`: Bullet source directory
- `PYTHON_INC`: python include directory
- `PYTHON_LIB`: python lib directory
2. 执行编译命令:
```
make python
```
执行后，得到`DeepMimicCore/DeepMimicCore.py`。
### 1.2.2 Windows
TODO
# 2 标准动作可视化
标准动作保存在文件夹`data/motions/`中，包括:
* humanoid3d_backflip.txt
* humanoid3d_cartwheel.txt
* humanoid3d_crawl.txt
* humanoid3d_dance_a.txt
* humanoid3d_dance_b.txt
* humanoid3d_getup_facedown.txt
* humanoid3d_getup_faceup.txt
* humanoid3d_jump.txt
* humanoid3d_kick.txt
* humanoid3d_punch.txt
* humanoid3d_roll.txt
* humanoid3d_run.txt
* humanoid3d_spin.txt
* humanoid3d_spinkick.txt
* humanoid3d_walk.txt
通过下列命令进行某一标准动作的可视化:
1. 修改`args/play_motion_humanoid3d_args.txt`文件
将`--motion_file`字段的值`{motion file}`修改为上述某一标准动作的路径。
2. 执行可视化命令
```
python DeepMimic.py --arg_file args/play_motion_humanoid3d_args.txt
```
执行上述命令后，可以看到如下图的窗口:
<img src="pictures/std.png" width="60%" alt="可视化窗口" align=center>
# 3 模型训练
训练某一标准动作的模型，执行以下操作:
1. 修改训练配置文件:
将`--output_path`字段的值`{model path}`修改为模型保存目录。
2. 执行训练命令:
```
python mpi_run.py --arg_file {配置文件} --num_workers 4
```
配置文件保存在文件夹`args/`中，包括:
* train_humanoid3d_backflip_args.txt
* train_humanoid3d_cartwheel_args.txt
* train_humanoid3d_crawl_args.txt
* train_humanoid3d_dance_a_args.txt
* train_humanoid3d_dance_b_args.txt
* train_humanoid3d_getup_facedown_args.txt
* train_humanoid3d_getup_faceup_args.txt
* train_humanoid3d_jump_args.txt
* train_humanoid3d_kick_args.txt
* train_humanoid3d_punch_args.txt
* train_humanoid3d_roll_args.txt
* train_humanoid3d_run_args.txt
* train_humanoid3d_spin_args.txt
* train_humanoid3d_spinkick_args.txt
* train_humanoid3d_walk_args.txt
# 4 模型可视化
使用训练后的模型执行交互式可视化，执行下列操作:
1. 修改推断配置文件:
将`--model_files`字段的值`{model path}`修改为模型训练时的保存目录。
2. 执行推断命令:
```
python DeepMimic.py --arg_file {配置文件}
```
配置文件保存在文件夹`args/`中，包括:
* run_humanoid3d_backflip_args.txt
* run_humanoid3d_cartwheel_args.txt
* run_humanoid3d_crawl_args.txt
* run_humanoid3d_dance_a_args.txt
* run_humanoid3d_dance_b_args.txt
* run_humanoid3d_getup_facedown_args.txt
* run_humanoid3d_getup_faceup_args.txt
* run_humanoid3d_jump_args.txt
* run_humanoid3d_kick_args.txt
* run_humanoid3d_punch_args.txt
* run_humanoid3d_roll_args.txt
* run_humanoid3d_run_args.txt
* run_humanoid3d_spin_args.txt
* run_humanoid3d_spinkick_args.txt
* run_humanoid3d_walk_args.txt
执行上述命令后，出现可视化窗口，可通过鼠标拖拽人物模型。
# 5 拓展
将fbxs/test_0731.fbx文件转化为该工程标准动作格式。
# 6 可能的问题
ImportError: libGLEW.so.2.1: cannot open shared object file: No such file or directory search for libGLEW.so.2.1 and use the following command accordingly ln /path/to/libGLEW.so.2.1 /usr/lib/x86----/libGLEW.so.2.1 ln /path/to/libGLEW.so.2.1.0 /usr/lib/x86----/libGLEW.so.2.1.0
ImportError: libBulletDynamics.so.2.88: cannot open shared object file: No such file or directory export LD_LIBRARY_PATH=/usr/local/lib/ ( can be temporary when run in terminal) (libBullet file are present in that path - gets installed in that path after the command sudo make install while installing Bullet)
# 7 操作
右上角的图显示了值函数的预测
右键单击并拖动将平移相机
左键单击并拖动将在特定位置对角色施加力
滚轮将聚焦/缩放
按“r”将重置一个模拟回合
按“l”将重新加载参数文件并重建所有内容
按“x”将随机地向角色投掷盒子（加入干扰）
按空格键将暂停/恢复模拟
按“>”将一步一步地进行模拟
DeepMimic复现.zip
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2020-05-07
23:09:13
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DeepMimic复现.zip （761个子文件） 
lodepng.cpp 214KB json_reader.cpp 57KB KinTree.cpp 55KB MeshUtil.cpp 48KB json_value.cpp 47KB SimCharacter.cpp 38KB json_writer.cpp 35KB RBDUtil.cpp 33KB DrawUtil.cpp 28KB lodepng_util.cpp 26KB SceneSimChar.cpp 23KB SimJoint.cpp 23KB MathUtil.cpp 23KB BVHReader.cpp 19KB TerrainGen2D.cpp 18KB GroundVar2D.cpp 17KB SimBodyJoint.cpp 16KB GroundVar3D.cpp 16KB DrawGround.cpp 15KB CtCtrlUtil.cpp 15KB TerrainGen3D.cpp 15KB CtController.cpp 14KB DrawScene.cpp 14KB DeepMimicCore.cpp 13KB Motion.cpp 13KB DrawSceneSimChar.cpp 13KB SceneImitate.cpp 13KB GroundTrail3D.cpp 12KB World.cpp 12KB Character.cpp 11KB PDController.cpp 10KB KinCharacter.cpp 9KB DrawCharacter.cpp 9KB GroundBuilder.cpp 8KB SpAlg.cpp 8KB GroundDynamicObstacles3D.cpp 8KB Main.cpp 7KB RLSceneSimChar.cpp 7KB Camera.cpp 7KB DeepMimicCharController.cpp 7KB FileUtil.cpp 7KB ImpPDController.cpp 6KB Shader.cpp 6KB TextureDesc.cpp 6KB GroundConveyor3D.cpp 6KB Ground.cpp 6KB SimRigidBody.cpp 6KB GroundObstacles3D.cpp 6KB RBDModel.cpp 6KB ArgParser.cpp 5KB SimObj.cpp 5KB ObjTracer.cpp 5KB ContactManager.cpp 5KB SimBodyLink.cpp 4KB DrawSimCharacter.cpp 4KB VertexBuffer.cpp 4KB Trajectory.cpp 4KB CtPDController.cpp 4KB DrawMesh.cpp 4KB DrawSceneKinChar.cpp 3KB ExpPDController.cpp 3KB DrawRLScene.cpp 3KB GroundHills3D.cpp 3KB TextureUtil.cpp 3KB DrawObj.cpp 3KB CharController.cpp 3KB Rand.cpp 3KB IBuffer.cpp 3KB CtrlBuilder.cpp 2KB GroundPlane.cpp 2KB IndexManager.cpp 2KB DrawKinTree.cpp 2KB MultiBody.cpp 2KB DrawSceneImitate.cpp 2KB SceneKinChar.cpp 2KB Timer.cpp 2KB Controller.cpp 2KB GraphUtil.cpp 2KB Scene.cpp 2KB ShadowMap.cpp 2KB CtVelController.cpp 2KB DrawPerturb.cpp 2KB JsonUtil.cpp 2KB GroundObstaclesDynamicCharacters3D.cpp 2KB MatrixStack.cpp 1KB SimCylinder.cpp 1KB SimCapsule.cpp 1KB AgentRegistry.cpp 1KB SimSphere.cpp 1KB Perturb.cpp 1KB SimBox.cpp 1KB SceneBuilder.cpp 1KB SimCharBuilder.cpp 952B DrawWorld.cpp 940B RLScene.cpp 904B SimPlane.cpp 897B PerturbManager.cpp 889B Shape.cpp 586B Annealer.cpp 526B SimCharGeneral.cpp 132B共 761 条
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