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