package dm_control.locomotion.mocap

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A motion-captured sequence that has been fitted to some rigid-body models.

• string identifier = 1

  A string that uniquely identifies this motion capture trajectory.

• int32 year = 2

  The date on which this trajectory was captured.

• int32 month = 3

• int32 day = 4

• double dt = 5

  The interval (in seconds) between successive timesteps in this trajectory.

• repeated Walker walkers = 6

  Strings identifying each walker model in this trajectory.

• repeated Prop props = 7

  Strings identifying each prop in this trajectory.

• repeated TimestepData timesteps = 8

  NEXT_ID: 9

A motion capture tracking marker.

Used in: Markers

• string name = 1

  The name that identifies this marker.

• string parent = 2

  The name of the parent frame to which this marker is attached.

• repeated double position = 3

  The position of this marker within the parent frame.

• repeated double quaternion = 4

  The orientation of this marker within the parent frame.

A collection of Markers.

Used in: Walker

• repeated Marker marker = 1

Used in: FittedTrajectory

• string name = 1

  A name that identifies this prop.

• Prop.Shape shape = 2

• repeated double size = 3

  Size of this prop, in meters. These are the half-lengths of each dimension on the prop. The number of dimensions depend on the prop type, e.g. a sphere only requires one number to specify its radius, whereas a box requires three numbers for each of the axis.

• double mass = 4

  Mass of this prop, in kilograms.

Used in: Prop

• UNSPECIFIED = 0

• SPHERE = 1

• BOX = 2

Used in: TimestepData

• repeated double position = 1

  Cartesian position of the prop. Must be of length 3.

• repeated double quaternion = 2

  Quaternion orientation of the prop. Must be of length 4 and normalized.

• repeated double velocity = 3

  Linear velocity of the prop. May be approximated by finite differences.

• repeated double angular_velocity = 4

  Angular velocity of the prop. May be approximated by finite differences.

Scaling information for a single subtree within a walker's model.

Used in: WalkerScaling

• string body_name = 1

  The name of the body at which this scaling is specified.

• double parent_length = 2

  The desired length of the parent at which the above body is attached.

• double size_factor = 3

  The factor by which to scale the size of each geom in this subtree.

Used in: FittedTrajectory

• repeated WalkerPose walkers = 1

• repeated PropPose props = 2

  NEXT_ID: 3

Used in: FittedTrajectory

• string name = 1

  A name that identifies this walker.

• Walker.Model model = 2

• optional WalkerScaling scaling = 3

  Factors used to scale the base model to fit the mocap actor. Scaling must be applied in the same order as listed in the proto.

• optional Markers markers = 4

  Mocap markers placed on this walker.

• double mass = 5

  Total mass of the walker, in kilograms.

• repeated string end_effector_names = 6

  Names of end effectors as present in WalkerPose.

• repeated string appendage_names = 7

  Names of appendages as present in WalkerPose.

Used in: Walker

• UNSPECIFIED = 0

• CMU_2019 = 1

• RESERVED_MODEL_ID_2 = 2

• RESERVED_MODEL_ID_3 = 3

• CMU_2020 = 4

• RESERVED_MODEL_ID_5 = 5

• RESERVED_MODEL_ID_6 = 6

  NEXT_ID: 7

Used in: TimestepData

• repeated double position = 1

  Cartesian position of the walker's root frame origin. Must be of length 3.

• repeated double quaternion = 2

  Quaternion orientation of the walker's root frame. Must be of length 4 and normalized.

• repeated double joints = 3

  Joint positions of the walker.

• repeated double center_of_mass = 4

  Cartesian position of the walker's center of mass.

• repeated double end_effectors = 5

  Cartesian position of the walker's end effectors in egocentric coordinates. Length must be a multiple of 3.

• repeated double velocity = 6

  Linear velocity of the walker's root frame origin. May be approximated by finite differences.

• repeated double angular_velocity = 7

  Angular velocity of the walker's root frame origin. May be approximated by finite differences.

• repeated double joints_velocity = 8

  Velocity of the walker's joints. May be approximated by finite differences.

• repeated double appendages = 9

  Cartesian position of the walker's appendages in egocentric coordinates. Length must be a multiple of 3.

• repeated double body_positions = 10

  Cartesian position in global coordinates of the walker's body parts Length must be a multiple of 3.

• repeated double body_quaternions = 11

  Orientation of the walker's body parts

Scaling information for a walker's model.

Used in: Walker

• repeated SubtreeScaling subtree = 1