Installation instructions:

Create virtual environment

python3 -m venv sim_phys_plaus

Install packages

pip install pybullet numpy matplotlib cma pyyaml pyquaternion scipy==1.10.1

Include third party dependencies and files

git clone https://github.com/bulletphysics/bullet3.git
ln -s bullet3/data/ data

Test

python scripts/sandbox.py --useGUI

Download pose detections (stored as dict in .npy files)

• pre-processed H36M detections
• pre-processed ForcePose detections

mkdir datasets
tar -xvf h36m_25fps.tar.gz -C ./datasets
tar -xvf forcepose_1.1.tar.gz -C ./datasets

Simulate raw motion trajectory

python scripts/simulate_trajectory.py --lower_feet_to_height=-0.001 --useGUI

Simulate optimized motion trajectory

python scripts/simulate_trajectory.py --cfg_file=./configs/h36m_S11_Walking_1.yaml python scripts/simulate_trajectory.py --cfg_file=./configs/h36m_S19_Waiting_1.yaml

Optimize motion trajectory

python scripts/optimize_trajectory --nCPUs=40 --opt_eul --match_init_contact --subject=$SUBJ --movement=$MVMT --exp_name='$SUBJ_$MVMT'

Other useful options

• Save to video: --useGUI --write_video --video_name=$VID_NAME.mp4
• Draw kinematic reference: --useGUI --drawRef