├── bvhtodeepmimic ├── __init__.py ├── test │ └── __init__.py ├── tests │ ├── __init__.py │ ├── test_bvh_joint_handler.py │ ├── 0005_Walking001.json │ ├── test_bvhjoint.py │ └── 0005_Walking001.bvh ├── joint_info.py ├── bvh_extended.py ├── bvh_joint.py └── bvh_joint_handler.py ├── Assets ├── walking_example.gif └── SpeedVault_example.gif ├── .gitignore ├── .github └── ISSUE_TEMPLATE │ ├── feature_request.md │ └── bug_report.md ├── setup.py ├── bvhtomimic.py ├── LICENSE.md ├── Settings └── settings.json ├── example_script.py ├── .travis.yml └── README.md /bvhtodeepmimic/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /bvhtodeepmimic/test/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /bvhtodeepmimic/tests/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /Assets/walking_example.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BartMoyaers/BvhToDeepMimic/HEAD/Assets/walking_example.gif -------------------------------------------------------------------------------- /Assets/SpeedVault_example.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BartMoyaers/BvhToDeepMimic/HEAD/Assets/SpeedVault_example.gif -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | #output files 2 | OutputMimic/ 3 | 4 | #input files 5 | InputBvh/ 6 | 7 | # python 8 | __pycache__/ 9 | *.pyc 10 | 11 | .vscode/* 12 | */.vscode/* -------------------------------------------------------------------------------- /bvhtodeepmimic/joint_info.py: -------------------------------------------------------------------------------- 1 | from typing import List 2 | 3 | class JointInfo: 4 | """ Contains information on a certain joint in the DeepMimic human model. 5 | """ 6 | 7 | def __init__(self, deepMimicName: str, bvhName: str, 8 | dimensions: int, zeroRotVector: List[float]): 9 | self.deepMimicName = deepMimicName 10 | self.bvhName = bvhName 11 | # self.bvhChildName = bvhChildName 12 | self.dimensions = dimensions 13 | self.zeroRotVector = zeroRotVector 14 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/feature_request.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Feature request 3 | about: Suggest an idea for this project 4 | title: '' 5 | labels: enhancement 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Is your feature request related to a problem? Please describe.** 11 | A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] 12 | 13 | **Describe the solution you'd like** 14 | A clear and concise description of what you want to happen. 15 | 16 | **Describe alternatives you've considered** 17 | A clear and concise description of any alternative solutions or features you've considered. 18 | 19 | **Additional context** 20 | Add any other context or screenshots about the feature request here. 21 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug report 3 | about: Create a report to help us improve 4 | title: '' 5 | labels: bug 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Describe the bug** 11 | A clear and concise description of what the bug is. 12 | 13 | **To Reproduce** 14 | Steps to reproduce the behavior: 15 | 1. Go to '...' 16 | 2. Click on '....' 17 | 3. Scroll down to '....' 18 | 4. See error 19 | 20 | **Expected behavior** 21 | A clear and concise description of what you expected to happen. 22 | 23 | **Screenshots** 24 | If applicable, add screenshots to help explain your problem. 25 | 26 | **Desktop (please complete the following information):** 27 | - OS: [e.g. iOS] 28 | - Version [e.g. 22] 29 | 30 | 31 | **Additional context** 32 | Add any other context about the problem here. 33 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | import setuptools 2 | 3 | with open("README.md", "r") as fh: 4 | long_description = fh.read() 5 | 6 | setuptools.setup( 7 | name="bvhtodeepmimic", 8 | version="0.0.5", 9 | author="Bart Moyaers", 10 | author_email="bart.moyaers@gmail.com", 11 | description="Convert .bvh files (Biovision Hierarchy) to DeepMimic format.", 12 | long_description=long_description, 13 | long_description_content_type="text/markdown", 14 | url="https://github.com/BartMoyaers/BvhToDeepMimic", 15 | packages=["bvhtodeepmimic"], 16 | py_modules=["bvhtomimic"], 17 | classifiers=[ 18 | "Programming Language :: Python :: 3", 19 | "Programming Language :: Python :: 3.6", 20 | "Programming Language :: Python :: 3.7", 21 | "License :: OSI Approved :: MIT License", 22 | "Operating System :: OS Independent", 23 | ], 24 | install_requires=["pyquaternion", "numpy", "bvh", "tqdm"], 25 | python_requires='>=3.6.*' 26 | ) -------------------------------------------------------------------------------- /bvhtodeepmimic/bvh_extended.py: -------------------------------------------------------------------------------- 1 | from bvh import Bvh 2 | 3 | class BvhExtended(Bvh): 4 | """Class extending the bvh-python class "Bvh", so that a joint's 5 | children can be looked up. 6 | """ 7 | def __init__(self, data): 8 | super().__init__(data) 9 | 10 | def getDirectChildrenNames(self, name): 11 | joint = super().get_joint(name) 12 | return [child.name for child in joint.filter('JOINT')] 13 | 14 | def joint_has_end_site(self, joint): 15 | return any(True for _ in joint.filter('End')) 16 | 17 | def joint_name_has_end_site(self, name): 18 | joint = super().get_joint(name) 19 | return self.joint_has_end_site(joint) 20 | 21 | def joint_get_end_site_offset(self, name): 22 | joint = super().get_joint(name) 23 | if self.joint_has_end_site(joint): 24 | end_site = next(joint.filter('End')) 25 | offset = end_site['OFFSET'] 26 | return [float(offset[0]), float(offset[1]), float(offset[2])] 27 | raise LookupError('No end site found.') -------------------------------------------------------------------------------- /bvhtomimic.py: -------------------------------------------------------------------------------- 1 | import json 2 | from bvhtodeepmimic.bvh_extended import BvhExtended 3 | from bvhtodeepmimic.bvh_joint_handler import BvhJointHandler 4 | 5 | class BvhConverter: 6 | def __init__(self, setting_path: str): 7 | self.setting_path = setting_path 8 | 9 | def convertBvhFile(self, filePath: str, loop=False): 10 | with open(filePath) as bvhFile: 11 | mocap = BvhExtended(bvhFile.read()) 12 | 13 | jointHandler = BvhJointHandler(mocap, settingsPath=self.setting_path) 14 | frames = jointHandler.generateKeyFrames() 15 | 16 | loopText = "none" 17 | if loop: 18 | loopText = "wrap" 19 | 20 | # Output in dictionary format for easy json dump 21 | outputDict = { 22 | "Loop": loopText, # "none" or "wrap" 23 | "Frames": frames 24 | } 25 | 26 | return json.dumps(outputDict, indent=4) 27 | 28 | def writeDeepMimicFile(self, bvhPath, outputPath): 29 | with open(outputPath, "w") as output: 30 | output.write(self.convertBvhFile(bvhPath)) -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2019 Bart Moyaers, SleepingFox88 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /bvhtodeepmimic/tests/test_bvh_joint_handler.py: -------------------------------------------------------------------------------- 1 | import unittest 2 | import json 3 | from bvhtodeepmimic.bvh_extended import BvhExtended 4 | from bvhtodeepmimic.bvh_joint_handler import BvhJointHandler 5 | import numpy as np 6 | 7 | class TestBvhJointHandler(unittest.TestCase): 8 | 9 | def __init__(self, *args, **kwargs): 10 | super(TestBvhJointHandler, self).__init__(*args, **kwargs) 11 | 12 | self.mocap = self.createMocap("./bvhtodeepmimic/tests/0005_Walking001.bvh") 13 | self.jointHandler = BvhJointHandler(self.mocap, settingsPath="./bvhtodeepmimic/tests/0005_Walking001.json") 14 | 15 | def createMocap(self, bvhPath): 16 | with open(bvhPath, "r") as myFile: 17 | mocap = BvhExtended(myFile.read()) 18 | 19 | return mocap 20 | 21 | def test_BvhBoneName(self): 22 | hips = self.jointHandler.bvhBoneName("hip") 23 | self.assertEqual("Hips", hips) 24 | 25 | def test_normalize(self): 26 | testvec = np.array([1,2,3]) 27 | normvec = BvhJointHandler.normalize(testvec) 28 | self.assertAlmostEqual(np.linalg.norm(normvec), 1.0) 29 | 30 | def test_calcQuatFromVecs(self): 31 | vec1 = np.array([4,5,6]) 32 | vec2 = np.array([6,5,4]) 33 | quat = BvhJointHandler.calcQuatFromVecs(vec1, vec2) 34 | vec3 = quat.rotate(vec1) 35 | for i in range(3): 36 | self.assertAlmostEqual(vec3[i], vec2[i]) 37 | 38 | def test_generateKeyFrames(self): 39 | frames = self.jointHandler.generateKeyFrames() 40 | self.assertEqual(len(frames), 270) 41 | 42 | if __name__ == '__main__': 43 | unittest.main() -------------------------------------------------------------------------------- /Settings/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "joints": [ 3 | "seconds", "hip", "hip", "chest", "neck", "right hip", "right knee", "right ankle", 4 | "right shoulder", "right elbow", "left hip", "left knee", "left ankle", "left shoulder", 5 | "left elbow" 6 | ], 7 | "jointDimensions": [1, 3, 4, 4, 4, 4, 1, 4, 4, 1, 4, 1, 4, 4, 1], 8 | "jointAssignments": { 9 | "hip": "Hips", 10 | "chest": "Spine", 11 | "neck": "Neck", 12 | "right hip": "RightUpLeg", 13 | "right knee": "RightLeg", 14 | "right ankle": "RightFoot", 15 | "right shoulder": "RightArm", 16 | "right elbow": "RightForeArm", 17 | "left hip": "LeftUpLeg", 18 | "left knee": "LeftLeg", 19 | "left ankle": "LeftFoot", 20 | "left shoulder": "LeftArm", 21 | "left elbow": "LeftForeArm" 22 | }, 23 | "rootRotJoints": { 24 | "root rot up": "Spine1", 25 | "root rot left": "LeftUpLeg" 26 | }, 27 | "positionChannelNames": ["Xposition", "Yposition", "Zposition"], 28 | "rotationChannelNames": ["Xrotation", "Yrotation", "Zrotation"], 29 | "scale": 0.0254, 30 | "zeroRotationVectors": { 31 | "seconds": [], 32 | "hip": [0, 0, 0], 33 | "chest": [0, 1, 0], 34 | "neck": [0, 1, 0], 35 | "right hip": [0, -1, 0], 36 | "right knee": [0, -1, 0], 37 | "right ankle": [1, 0, 0], 38 | "right shoulder": [0, -1, 0], 39 | "right elbow": [0, -1, 0], 40 | "left hip": [0, -1, 0], 41 | "left knee": [0, -1, 0], 42 | "left ankle": [1, 0, 0], 43 | "left shoulder": [0, -1, 0], 44 | "left elbow": [0, -1, 0] 45 | } 46 | } -------------------------------------------------------------------------------- /bvhtodeepmimic/tests/0005_Walking001.json: -------------------------------------------------------------------------------- 1 | { 2 | "joints": [ 3 | "seconds", "hip", "hip", "chest", "neck", "right hip", "right knee", "right ankle", 4 | "right shoulder", "right elbow", "left hip", "left knee", "left ankle", "left shoulder", 5 | "left elbow" 6 | ], 7 | "jointDimensions": [1, 3, 4, 4, 4, 4, 1, 4, 4, 1, 4, 1, 4, 4, 1], 8 | "jointAssignments": { 9 | "hip": "Hips", 10 | "chest": "Spine", 11 | "neck": "Neck", 12 | "right hip": "RightUpLeg", 13 | "right knee": "RightLeg", 14 | "right ankle": "RightFoot", 15 | "right shoulder": "RightArm", 16 | "right elbow": "RightForeArm", 17 | "left hip": "LeftUpLeg", 18 | "left knee": "LeftLeg", 19 | "left ankle": "LeftFoot", 20 | "left shoulder": "LeftArm", 21 | "left elbow": "LeftForeArm" 22 | }, 23 | "rootRotJoints": { 24 | "root rot up": "Spine1", 25 | "root rot left": "LeftUpLeg" 26 | }, 27 | "positionChannelNames": ["Xposition", "Yposition", "Zposition"], 28 | "rotationChannelNames": ["Xrotation", "Yrotation", "Zrotation"], 29 | "scale": 0.0254, 30 | "zeroRotationVectors": { 31 | "seconds": [], 32 | "hip": [0, 0, 0], 33 | "chest": [0, 1, 0], 34 | "neck": [0, 1, 0], 35 | "right hip": [0, -1, 0], 36 | "right knee": [0, -1, 0], 37 | "right ankle": [1, 0, 0], 38 | "right shoulder": [0, -1, 0], 39 | "right elbow": [0, -1, 0], 40 | "left hip": [0, -1, 0], 41 | "left knee": [0, -1, 0], 42 | "left ankle": [1, 0, 0], 43 | "left shoulder": [0, -1, 0], 44 | "left elbow": [0, -1, 0] 45 | } 46 | } -------------------------------------------------------------------------------- /example_script.py: -------------------------------------------------------------------------------- 1 | # Imports 2 | # =========================================================================== 3 | 4 | import json 5 | import os 6 | from os import listdir 7 | from os.path import isfile, join 8 | from bvhtomimic import BvhConverter 9 | 10 | # Function declarations 11 | # =========================================================================== 12 | 13 | def removeAllFilesInDirectory(directory): 14 | onlyfiles = [f for f in listdir(directory) if isfile(join(directory, f))] 15 | for i in range(0, len(onlyfiles)): 16 | os.remove(f"{directory}{onlyfiles[i]}") 17 | 18 | 19 | # Initialization 20 | # =========================================================================== 21 | mypath = "./inputBvh/" 22 | dirnames = ["./OutputMimic/", mypath] 23 | for dirname in dirnames: 24 | if not os.path.exists(dirname): 25 | os.makedirs(dirname) 26 | 27 | removeAllFilesInDirectory(dirnames[0]) 28 | 29 | # Locks root position and rotation for dev testing 30 | posLocked = False 31 | 32 | # sets onlyfiles to a list of files founds in the "mypath" directory 33 | onlyfiles = [f for f in listdir(mypath) if isfile(join(mypath, f))] 34 | 35 | 36 | # Start of main program 37 | # =========================================================================== 38 | 39 | # for all files to convert 40 | for j in range(0, len(onlyfiles)): 41 | 42 | outputPath = f"./OutputMimic/{onlyfiles[j]}.txt" 43 | 44 | # list containing all the frames 45 | frames = [] 46 | 47 | # open file to convert 48 | inputPath = "./inputBvh/" + onlyfiles[j] 49 | 50 | # Convert file 51 | converter = BvhConverter("./Settings/settings.json") 52 | 53 | print("Converting:\t\"" + onlyfiles[j] + "\"") 54 | converter.writeDeepMimicFile(inputPath, outputPath) 55 | -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- 1 | language: python 2 | matrix: 3 | include: 4 | - name: "Python 3.7.1 on Xenial Linux" 5 | python: 3.7 # this works for Linux but is ignored on macOS or Windows 6 | dist: xenial # required for Python >= 3.7 7 | - name: "Python 3.6 on Linux" 8 | python: 3.6 # this works for Linux but is ignored on macOS or Windows 9 | # - name: "Python 3.7.3 on Windows" 10 | # os: windows # Windows 10.0.17134 N/A Build 17134 11 | # language: shell # 'language: python' is an error on Travis CI Windows 12 | # before_install: 13 | # - choco install python 14 | # - python -m pip install --upgrade pip 15 | # env: PATH=/c/Python37:/c/Python37/Scripts:$PATH 16 | 17 | install: 18 | - pip3 install pyquaternion 19 | - pip3 install numpy 20 | - pip3 install bvh 21 | - pip3 install tqdm 22 | - pip3 install codecov 23 | - pip3 install coverage 24 | 25 | script: 26 | # - python -m unittest || python3 -m unittest 27 | - coverage run -m unittest 28 | - codecov 29 | 30 | deploy: 31 | provider: pypi 32 | user: BartMoyaers 33 | password: 34 | secure: VH8t45RpBP+DmvxmtTsrzOD0KqAwuQWj9rmk0Z/zU9Ds28rdTzY6m5T+UTRvuCBriGJUmixEL49qRLshHXCIK02LiebL0KrvFTeqrDV0t5dCQF/7FW2Nb4svcI13VBEGTu4aW5WKG88OUzCYpNxcvLSTkukJdIVY5D8HCxAPBpHdv8DW2haEeP4Pyqmw+lpZ7F5BWhAgQH85vXerR31pkaxio5GsYWNvOorqN3rgxbhAw4qsdS7l6NHq/3/l7vrbBKmDH1UzXwGI3CtpbFwUa5q/Rao2hjgVzREt4RIrZLS9M+1Qe3qT3/3P522jZeU6sP59+lEP9qln9MuRbF7sZ7fd8gGZ3a21pWJOrCG+DFzOAxCRT+vCb7HRrFKg/MzHD8BtZZ1Cag+6txs7Rprb8F+wBwH+VYTF0bEHqsrlWWMUDZfx42XWE80ltXNFh4+Ei1ilkvGLIUrcQk8rX+KjEFeHQqtqe2fxb962SEkJ9flTSBXUZuRzzQjeQbNQcmQHSmzQT8lihnLYSMBAPVUHgF8Qw3vWL0x3cApgqY8GqEMB8DRYxMl9bF4afDO3/EvWxAb/FK8HGzmZY91nUpa7g90pdLyh29Ik2CF5IUo1K55dXlB15rX52DxG/kvt3H5MNUOmMDsMx3xisnX0Ss5XJD4MEUszgk/VWj2sL/ZI6kI= 35 | skip_existing: true 36 | on: 37 | branch: master 38 | -------------------------------------------------------------------------------- /bvhtodeepmimic/tests/test_bvhjoint.py: -------------------------------------------------------------------------------- 1 | import unittest 2 | import json 3 | from bvhtodeepmimic.bvh_extended import BvhExtended 4 | from bvhtodeepmimic.bvh_joint import BvhJoint 5 | 6 | class TestBvhJoint(unittest.TestCase): 7 | 8 | def __init__(self, *args, **kwargs): 9 | super(TestBvhJoint, self).__init__(*args, **kwargs) 10 | 11 | self.mocap = self.createMocap("./bvhtodeepmimic/tests/0005_Walking001.bvh") 12 | self.settings = self.readSettings("./bvhtodeepmimic/tests/0005_Walking001.json") 13 | self.root = self.createRoot() 14 | 15 | def createMocap(self, bvhPath): 16 | with open(bvhPath, "r") as myFile: 17 | mocap = BvhExtended(myFile.read()) 18 | 19 | return mocap 20 | 21 | def readSettings(self, settingsPath): 22 | with open(settingsPath) as json_data: 23 | settings = json.load(json_data) 24 | return settings 25 | 26 | def createRoot(self): 27 | root = BvhJoint(self.mocap, 28 | "Hips", 29 | self.settings["positionChannelNames"], 30 | self.settings["rotationChannelNames"] 31 | ) 32 | return root 33 | 34 | def test_updatePosition(self): 35 | self.root.update(0) 36 | child = self.root.children[0] #leftupleg 37 | self.assertEqual(child.position[0], 4.803989001169213) 38 | self.assertEqual(child.position[1], 32.631972506422834) 39 | self.assertEqual(child.position[2], -20.776430497304112) 40 | 41 | def test_updateJointTranslation(self): 42 | self.root.update(0) 43 | # 5.1427 32.5308 -24.4088 44 | self.assertEqual(self.root.translation_vector[0], 5.1427) 45 | self.assertEqual(self.root.translation_vector[1], 32.5308) 46 | self.assertEqual(self.root.translation_vector[2], -24.4088) 47 | 48 | def test_updateRotationMatrix(self): 49 | self.root.update(0) 50 | child = self.root.children[0] #leftupleg 51 | self.assertEqual(round(child.rotation_matrix[0,0], 7), 0.9996688) 52 | 53 | def test_updateTransformationMatrix(self): 54 | self.root.update(0) 55 | child = self.root.children[0] #leftupleg 56 | self.assertEqual(round(child.tf_matrix[0,0], 9), 9.99668797e-01) 57 | 58 | def test_search(self): 59 | test = self.root._search("LeftUpLeg") 60 | self.assertIsNotNone(test) 61 | test = self.root._search("NonExistantName") 62 | self.assertEqual(test, None) 63 | 64 | def test_searchJoint(self): 65 | test = self.root.searchJoint("LeftUpLeg") 66 | self.assertIsNotNone(test) 67 | test = self.root._search("NonExistantName") 68 | self.assertRaises(LookupError) 69 | 70 | def test_hasEndSite(self): 71 | test = self.root.searchJoint("LeftToeBase") 72 | self.assertTrue(test.hasEndSite()) 73 | 74 | if __name__ == '__main__': 75 | unittest.main() 76 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # BvhToMimic [![Build Status](https://travis-ci.org/BartMoyaers/BvhToDeepMimic.svg?branch=master)](https://travis-ci.org/BartMoyaers/BvhToDeepMimic) [![PyPI version](https://badge.fury.io/py/bvhtodeepmimic.svg)](https://badge.fury.io/py/bvhtodeepmimic) ![Codecov](https://img.shields.io/codecov/c/github/BartMoyaers/BvhToDeepMimic) ![PyPI - Python Version](https://img.shields.io/pypi/pyversions/bvhtodeepmimic) 2 | 3 | ## Goal 4 | 5 | The [DeepMimic project](https://github.com/xbpeng/DeepMimic) currently offers no way to import custom reference motions. This is shown in [DeepMimic issue #23](https://github.com/xbpeng/DeepMimic/issues/23). This project aims to transfer animation data from .BVH files into DeepMimic motion files. Motion files can then be used to train DeepMimic skills. Many thanks to user [sloganking](https://github.com/sloganking) for starting off the project. Original repository can be found [here](https://github.com/sloganking/BvhToMimic). This repository currently works well with [this database](http://mocap.cs.sfu.ca/). 6 | 7 | ## Installation 8 | `pip install bvhtodeepmimic` 9 | or 10 | `pip3 install bvhtodeepmimic` 11 | 12 | Will install the library together with the requirements. Currently works with python 3.6 or 3.7 13 | 14 | ## Usage 15 | Create a BvhConverter object: 16 | ```python 17 | from bvhtomimic import BvhConverter 18 | converter = BvhConverter("./Settings/settings.json") 19 | ``` 20 | 21 | Generate the DeepMimic text from a .bvh file: 22 | ```python 23 | converter.convertBvhFile("pathToBvhFile", loop=False) 24 | ``` 25 | 26 | Or write directly to file: 27 | ```python 28 | converter.writeDeepMimicFile(pathToBvhFile, outputPath) 29 | ``` 30 | 31 | Or use [the example script](./example_script.py) that will convert all .bvh files located in ./InputBvh/ into Mimic Motion files, located in ./OutputMimic/ . 32 | 33 | ## Progress 34 | 35 | ![Walking_example](./Assets/walking_example.gif) 36 | 37 | (GIF has been generated using [this](http://mocap.cs.sfu.ca/nusmocap/0005_Walking001.bvh) mocap file from [this database](http://mocap.cs.sfu.ca/).) 38 | 39 | ![SpeedVault_example](./Assets/SpeedVault_example.gif) 40 | 41 | Watch more videos of recorded conversions [here](https://www.youtube.com/playlist?list=PLd8lridYo1jPV26RsWZIGSJJew9nu4XSF). 42 | 43 | ## Creating a settings file 44 | 45 | Currently joints in .bvh files have to be manually assigned by name to the corresponding joints in the DeepMimic humanoid model. This is done by assigning the .bvh model's bone names to the corresponding joint properties in [./Settings/settings.json](./Settings/settings.json). On top of the joint assignments, this file should also include settings to change the scale by which the .bvh file should be transformed, and the joints used to identify the **root** rotation of the model. 46 | 47 | ## Related Projects 48 | 49 | [List of related projects](https://github.com/sloganking/DeepMimic-Animation-Conversion) 50 | 51 | ### Notes 52 | 53 | This code has been developed within the [ACRO research group](https://iiw.kuleuven.be/onderzoek/acro). 54 | -------------------------------------------------------------------------------- /bvhtodeepmimic/bvh_joint.py: -------------------------------------------------------------------------------- 1 | from typing import List 2 | import numpy as np 3 | import math 4 | from .joint_info import JointInfo 5 | from .bvh_extended import BvhExtended 6 | 7 | class BvhJoint: 8 | def __init__(self, mocap: BvhExtended, name: str, 9 | positionChannelNames, 10 | rotationChannelNames, 11 | parent=None, isRoot=False, 12 | ): 13 | self.name = name 14 | self.parent = parent 15 | self.mocap = mocap 16 | self.is_root = isRoot 17 | self.offset = np.array(mocap.joint_offset(self.name)) 18 | self.channels = self.mocap.joint_channels(self.name) 19 | self.positionChannelNames = positionChannelNames 20 | self.rotationChannelNames = rotationChannelNames 21 | self.rotation_channels = list( 22 | filter(lambda x: x in self.rotationChannelNames, self.channels) 23 | ) 24 | self.children: List[BvhJoint] = self._createChildJoints() 25 | # Rotation matrix of the joint. 26 | self.rotation_matrix = np.eye(3) 27 | self.translation_vector = np.zeros(3) 28 | 29 | # Affine transformation matrix, combining rotation and translation. 30 | self.tf_matrix = np.eye(4) 31 | # Transformation matrix reflecting the total transformation from the 32 | # root joint up to this joint. 33 | self.total_tf_matrix = np.eye(4) 34 | # Position of this joint in 3D space. 35 | self.position: np.array = np.zeros(3) 36 | 37 | def update(self, frameNumber, parent_transform=np.eye(4)): 38 | self._updateJointTranslation(frameNumber) 39 | self._updateRotationMatrix(frameNumber) 40 | self._updateTransformationMatrix(parent_transform) 41 | self._updatePosition() 42 | 43 | for child in self.children: 44 | child.update(frameNumber, self.total_tf_matrix) 45 | 46 | def _createChildJoints(self): 47 | result = [] 48 | for childName in self.mocap.getDirectChildrenNames(self.name): 49 | result.append( 50 | BvhJoint( 51 | self.mocap, 52 | childName, 53 | self.positionChannelNames, 54 | self.rotationChannelNames, 55 | parent=self 56 | ) 57 | 58 | ) 59 | return result 60 | 61 | def _updateJointTranslation(self, frameNumber: int): 62 | # Only update translation when there are more than 3 rotation channels. 63 | if len(self.channels) <= 3: 64 | return 65 | 66 | result = [] 67 | for channel in self.positionChannelNames: 68 | result.append(self.mocap.frame_joint_channel( 69 | frameNumber, self.name, channel)) 70 | 71 | self.translation_vector = np.array(result) 72 | 73 | def _getXYZEulerAngles(self, frameNumber) -> List[float]: 74 | # Get the X, Y, Z euler angles 75 | eulerAngles = [] 76 | for channel in self.rotationChannelNames: 77 | eulerAngles.append( 78 | self.mocap.frame_joint_channel( 79 | frameNumber, self.name, channel) 80 | ) 81 | 82 | return eulerAngles 83 | 84 | def _updateRotationMatrix(self, frameNumber: int): 85 | angles = self._getXYZEulerAngles(frameNumber) 86 | # Convert angles to radians 87 | Xangle = math.radians(angles[0]) 88 | Yangle = math.radians(angles[1]) 89 | Zangle = math.radians(angles[2]) 90 | 91 | # Create the rotation matrix for every euler angle 92 | # See: https://en.wikipedia.org/wiki/Rotation_matrix#In_three_dimensions 93 | xCos = math.cos(Xangle) 94 | xSin = math.sin(Xangle) 95 | Xrot = np.array( 96 | [ 97 | [1, 0, 0], 98 | [0, xCos, -xSin], 99 | [0, xSin, xCos] 100 | ] 101 | ) 102 | 103 | yCos = math.cos(Yangle) 104 | ySin = math.sin(Yangle) 105 | Yrot = np.array( 106 | [ 107 | [yCos, 0, ySin], 108 | [0, 1, 0], 109 | [-ySin, 0, yCos] 110 | ] 111 | ) 112 | zCos = math.cos(Zangle) 113 | zSin = math.sin(Zangle) 114 | Zrot = np.array( 115 | [ 116 | [zCos, -zSin, 0], 117 | [zSin, zCos, 0], 118 | [0, 0, 1] 119 | ] 120 | ) 121 | 122 | # Connect the rotation channel names to corresponding matrices 123 | rotationDict = { 124 | self.rotationChannelNames[0]: Xrot, 125 | self.rotationChannelNames[1]: Yrot, 126 | self.rotationChannelNames[2]: Zrot 127 | } 128 | 129 | # Compute the final rotation matrix in the order as the BVH file describes. 130 | channels = self.rotation_channels 131 | rotationMatrix = rotationDict[channels[0]] @ (rotationDict[channels[1]] @ rotationDict[channels[2]]) 132 | 133 | self.rotation_matrix = rotationMatrix 134 | 135 | def _updateTransformationMatrix(self, parent_transform: np.array): 136 | total_translation = self.offset + self.translation_vector 137 | result = np.concatenate((self.rotation_matrix, np.array([total_translation]).T), axis=1) 138 | result = np.concatenate((result, np.array([[0, 0, 0, 1]])), axis=0) 139 | self.tf_matrix = result 140 | result = parent_transform @ result 141 | self.total_tf_matrix = result 142 | 143 | def _updatePosition(self): 144 | vector = np.array([0,0,0,1]) @ self.total_tf_matrix.T 145 | self.position = vector[:-1] 146 | 147 | def _search(self, name: str): 148 | if self.name == name: 149 | return self 150 | else: 151 | for child in self.children: 152 | found = child._search(name) 153 | if found is not None: 154 | return found 155 | return 156 | 157 | def searchJoint(self, name:str): 158 | found = self._search(name) 159 | if found is None: 160 | raise LookupError("Joint name not found.") 161 | else: 162 | return found 163 | 164 | def getJointPosition(self, name): 165 | joint = self.searchJoint(name) 166 | return joint.position 167 | 168 | def getRelativeChildPosition(self): 169 | if len(self.children) > 0: 170 | childPos = self.children[0].getRelativeJointTranslation() 171 | else: 172 | # get end site position 173 | childPos = self.getRelativeEndSitePosition() 174 | return childPos 175 | 176 | def getRelativeJointTranslation(self): 177 | jointPos = self.position 178 | parentPos = self.parent.position 179 | return jointPos - parentPos 180 | 181 | def hasEndSite(self): 182 | return self.mocap.joint_name_has_end_site(self.name) 183 | 184 | def getEndSiteOffset(self): 185 | return self.mocap.joint_get_end_site_offset(self.name) 186 | 187 | def getEndSitePosition(self): 188 | vector = self.getEndSiteOffset() + [1] 189 | result = (self.total_tf_matrix @ np.array([vector]).T).T 190 | return result[0][:-1] 191 | 192 | def getRelativeEndSitePosition(self): 193 | endSitePosition = self.getEndSitePosition() 194 | return endSitePosition - self.position 195 | 196 | def getTotalRotationMatrix(self): 197 | return self.total_tf_matrix[:-1,:-1] -------------------------------------------------------------------------------- /bvhtodeepmimic/bvh_joint_handler.py: -------------------------------------------------------------------------------- 1 | import json 2 | import numpy as np 3 | import math 4 | from pyquaternion import Quaternion 5 | from typing import List 6 | from tqdm import tqdm 7 | from .bvh_extended import BvhExtended 8 | from .joint_info import JointInfo 9 | from .bvh_joint import BvhJoint 10 | 11 | class BvhJointHandler: 12 | """ Handles conversion of BVH files to DeepMimic format. 13 | """ 14 | 15 | def __init__(self, mocap: BvhExtended, settingsPath="./Settings/settings.json", posLocked=False): 16 | self.mocap = mocap 17 | self.posLocked = posLocked 18 | 19 | # Get settings json 20 | with open(settingsPath) as json_data: 21 | self.settings = json.load(json_data) 22 | 23 | self.scaleFactor = self.settings["scale"] 24 | self.deepMimicHumanoidJoints = self.settings["joints"] 25 | self.jointDimensions = self.settings["jointDimensions"] 26 | self.rotVecDict = self.settings["zeroRotationVectors"] 27 | self.rootUp = self.settings["rootRotJoints"]["root rot up"] 28 | self.rootLeft = self.settings["rootRotJoints"]["root rot left"] 29 | positionChannelNames = self.settings["positionChannelNames"] 30 | rotationChannelNames = self.settings["rotationChannelNames"] 31 | 32 | self.jointData = [] 33 | self.generateJointData() 34 | 35 | # Joint tree starting at root 36 | self.root = BvhJoint( 37 | self.mocap, 38 | self.settings["jointAssignments"][self.deepMimicHumanoidJoints[1]], 39 | positionChannelNames, 40 | rotationChannelNames, 41 | ) 42 | 43 | def generateJointData(self): 44 | assert len(self.deepMimicHumanoidJoints) == len(self.jointDimensions) 45 | 46 | for i in range(2, len(self.deepMimicHumanoidJoints)): 47 | deepMimicBoneName = self.deepMimicHumanoidJoints[i] 48 | bvhBoneName = self.bvhBoneName(deepMimicBoneName) 49 | jointInfo = JointInfo( 50 | deepMimicBoneName, 51 | bvhBoneName, 52 | self.jointDimensions[i], 53 | self.rotVecDict[deepMimicBoneName], 54 | ) 55 | self.jointData.append(jointInfo) 56 | 57 | def generateKeyFrame(self, frameNumber: int): 58 | result = [] 59 | # Update positions and transformation 60 | self.root.update(frameNumber) 61 | self.current_hip_rotation = self.getRootQuat() 62 | 63 | # Append Time 64 | result.append(self.mocap.frame_time) 65 | 66 | # Append hip root pos 67 | if self.posLocked: 68 | result.extend([2, 2, 2]) 69 | else: 70 | result.extend( 71 | self.getJointTranslation(self.jointData[0]) 72 | ) 73 | 74 | # Append hip rotation 75 | result.extend( 76 | BvhJointHandler.quatBvhToDM( 77 | self.current_hip_rotation.elements 78 | ) 79 | ) 80 | 81 | # Append other rotations 82 | for joint in self.jointData[1:]: 83 | result.extend(self.getJointRotation(joint)) 84 | 85 | return result 86 | 87 | def generateKeyFrames(self): 88 | keyFrames = [] 89 | for i in tqdm(range(0, self.mocap.nframes)): 90 | keyFrames.append(self.generateKeyFrame(i)) 91 | 92 | return keyFrames 93 | 94 | def bvhBoneName(self, deepMimicBoneName): 95 | return self.settings["jointAssignments"][deepMimicBoneName] 96 | 97 | def getJointOffset(self, bvhJointName): 98 | return list(self.mocap.joint_offset(bvhJointName)) 99 | 100 | def getJointTranslation(self, jointInfo: JointInfo): 101 | return BvhJointHandler.posBvhToDM( 102 | self.scaleFactor * self.root.getJointPosition(jointInfo.bvhName) 103 | ) 104 | 105 | def getJointRotation(self, jointInfo: JointInfo) -> List[float]: 106 | joint = self.root.searchJoint(jointInfo.bvhName) 107 | if jointInfo.dimensions > 1: 108 | return self.calcRotation(joint, jointInfo) 109 | else: 110 | # 1D DeepMimic joint 111 | assert jointInfo.dimensions == 1 112 | # Get positions 113 | childPos = self.normalize(joint.getRelativeChildPosition()) 114 | jointPos = self.normalize(joint.getRelativeJointTranslation()) 115 | 116 | angle = math.acos(np.dot(jointPos, childPos)) 117 | return [angle] 118 | 119 | def calcRotation(self, joint: BvhJoint, jointInfo: JointInfo): 120 | # Get vector from joint to child 121 | childPos = self.normalize(joint.getRelativeChildPosition()) 122 | 123 | child = joint.children[0] 124 | if jointInfo.deepMimicName not in ["chest", "neck", "left ankle", "right ankle"]: 125 | # get child's child position 126 | childsChildPos = child.getRelativeChildPosition() 127 | 128 | y = -1 * childPos 129 | # TODO: check if vectors coincide 130 | x = self.normalize(np.cross(y, childsChildPos)) 131 | z = self.normalize(np.cross(x, y)) 132 | 133 | # Create rotation matrix from frame 134 | rot_mat = np.array([x, y, z]).T 135 | # Take base rotation into account 136 | zero_rot_mat = self.root.getTotalRotationMatrix() 137 | result = zero_rot_mat.T @ rot_mat 138 | return BvhJointHandler.quatBvhToDM( 139 | Quaternion(matrix=result) 140 | ).elements 141 | elif jointInfo.deepMimicName in ["left ankle", "right ankle"]: 142 | # get child's child position 143 | childsChildPos = child.getRelativeChildPosition() 144 | 145 | # Feet are pointed in Z direction TODO: find out why minus sign is needed 146 | z = -childPos 147 | x = self.normalize(np.cross(childsChildPos, z)) 148 | y = self.normalize(np.cross(z, x)) 149 | # Create rotation matrix from frame 150 | rot_mat = np.array([x, y, z]).T 151 | # Take base rotation into account 152 | zero_rot_mat = self.root.getTotalRotationMatrix() 153 | result = zero_rot_mat.T @ rot_mat 154 | return BvhJointHandler.quatBvhToDM( 155 | Quaternion(matrix=result) 156 | ).elements 157 | else: 158 | # rotate zeroRotVec with rootquat 159 | zeroRotVec = np.array(jointInfo.zeroRotVector) 160 | zeroVec = self.current_hip_rotation.rotate(zeroRotVec) 161 | 162 | # Calculate quaternion 163 | result = BvhJointHandler.calcQuatFromVecs(zeroVec, childPos) 164 | return BvhJointHandler.quatBvhToDM(result).elements 165 | 166 | def getRelativeJointTranslation(self, bvhJointName): 167 | joint = self.root.searchJoint(bvhJointName) 168 | return joint.getRelativeJointTranslation() 169 | 170 | def getRootQuat(self): 171 | # get left hip position 172 | root_left = BvhJointHandler.normalize( 173 | self.getRelativeJointTranslation( 174 | self.rootLeft 175 | ) 176 | ) 177 | 178 | # get spine "up" position (y axis in local root frame) 179 | y = BvhJointHandler.normalize( 180 | self.getRelativeJointTranslation( 181 | self.rootUp 182 | ) 183 | ) 184 | 185 | # Create orthonormal frame 186 | z = BvhJointHandler.normalize(np.cross(root_left, y)) 187 | x = BvhJointHandler.normalize(np.cross(y, z)) 188 | 189 | # Create rotation matrix from frame 190 | rot_mat = np.array([x, y, z]).T 191 | 192 | # Create quaternion 193 | return Quaternion(matrix=rot_mat) 194 | 195 | def calcScale(self): 196 | # Calculate the scaling factor to transform bvh translations to DM translations 197 | # From: http://mocap.cs.cmu.edu/faqs.php 198 | # For 02_01.bvh: 199 | # self.scaleFactor = (1.0 / 0.45) * 2.54 / 100.0 # = 0.056444 200 | # For bvh files from http://mocap.cs.sfu.ca/ 201 | self.scaleFactor = 2.54 / 100.0 202 | 203 | 204 | @staticmethod 205 | def calcQuatFromVecs(v1, v2) -> Quaternion: 206 | v1 = BvhJointHandler.normalize(v1) 207 | v2 = BvhJointHandler.normalize(v2) 208 | 209 | # Calculate perpendicular vector 210 | perpvec = np.cross(v1, v2) 211 | perpnorm = np.linalg.norm(perpvec) 212 | if perpnorm > 0: 213 | perpvec = perpvec / perpnorm 214 | # Check for float slightly larger than 1 215 | temp = np.dot(v1, v2) 216 | if temp > 1: 217 | temp = 1.0 218 | angle = math.acos(temp) 219 | else: 220 | perpvec = np.array([1, 0, 0]) 221 | angle = 0 222 | 223 | # Calculate quaternion from angle axis form. 224 | result = Quaternion(axis=perpvec, radians=angle) 225 | 226 | return result 227 | 228 | @staticmethod 229 | def normalize(vector): 230 | # Normalize a vector (create unit vector) 231 | norm = np.linalg.norm(vector) 232 | if norm != 1 and norm > 0: 233 | vector = vector / norm 234 | return vector 235 | 236 | @staticmethod 237 | def quatBvhToDM(quaternion: Quaternion) -> Quaternion: 238 | # transform x -> z and z -> -x 239 | return Quaternion( 240 | quaternion[0], 241 | quaternion[3], 242 | quaternion[2], 243 | -quaternion[1] 244 | ) 245 | 246 | @staticmethod 247 | def posBvhToDM(translation: List[float]) -> List[float]: 248 | # transform x -> z and z -> -x 249 | return [ 250 | translation[2], 251 | translation[1], 252 | -translation[0] 253 | ] -------------------------------------------------------------------------------- /bvhtodeepmimic/tests/0005_Walking001.bvh: -------------------------------------------------------------------------------- 1 | HIERARCHY 2 | ROOT Hips 3 | { 4 | OFFSET 0.00 0.00 0.00 5 | CHANNELS 6 Xposition Yposition Zposition Xrotation Yrotation Zrotation 6 | JOINT LeftUpLeg 7 | { 8 | OFFSET 3.64953 0.00000 0.00000 9 | CHANNELS 3 Xrotation Yrotation Zrotation 10 | JOINT LeftLeg 11 | { 12 | OFFSET 0.00000 -15.70580 0.00000 13 | CHANNELS 3 Xrotation Yrotation Zrotation 14 | JOINT LeftFoot 15 | { 16 | OFFSET 0.00000 -15.41867 0.00000 17 | CHANNELS 3 Xrotation Yrotation Zrotation 18 | JOINT LeftToeBase 19 | { 20 | OFFSET 0.00000 -1.53543 5.73033 21 | CHANNELS 3 Xrotation Yrotation Zrotation 22 | End Site 23 | { 24 | OFFSET 0.00000 0.00000 2.95275 25 | } 26 | } 27 | } 28 | } 29 | } 30 | JOINT RightUpLeg 31 | { 32 | OFFSET -3.64953 0.00000 0.00000 33 | CHANNELS 3 Xrotation Yrotation Zrotation 34 | JOINT RightLeg 35 | { 36 | OFFSET 0.00000 -15.70580 0.00000 37 | CHANNELS 3 Xrotation Yrotation Zrotation 38 | JOINT RightFoot 39 | { 40 | OFFSET 0.00000 -15.41867 0.00000 41 | CHANNELS 3 Xrotation Yrotation Zrotation 42 | JOINT RightToeBase 43 | { 44 | OFFSET 0.00000 -1.53543 5.73033 45 | CHANNELS 3 Xrotation Yrotation Zrotation 46 | End Site 47 | { 48 | OFFSET 0.00000 0.00000 2.95275 49 | } 50 | } 51 | } 52 | } 53 | } 54 | JOINT Spine 55 | { 56 | OFFSET 0.00000 0.03937 0.00000 57 | CHANNELS 3 Xrotation Yrotation Zrotation 58 | JOINT Spine1 59 | { 60 | OFFSET 0.00000 10.24829 0.00000 61 | CHANNELS 3 Xrotation Yrotation Zrotation 62 | JOINT Neck 63 | { 64 | OFFSET 0.00000 7.82687 0.00000 65 | CHANNELS 3 Xrotation Yrotation Zrotation 66 | JOINT Head 67 | { 68 | OFFSET 0.00000 6.90715 0.00000 69 | CHANNELS 3 Xrotation Yrotation Zrotation 70 | End Site 71 | { 72 | OFFSET 0.00000 4.52755 0.00000 73 | } 74 | } 75 | } 76 | JOINT LeftShoulder 77 | { 78 | OFFSET 0.00000 7.82687 0.00000 79 | CHANNELS 3 Xrotation Yrotation Zrotation 80 | JOINT LeftArm 81 | { 82 | OFFSET 6.71018 -0.00002 0.00000 83 | CHANNELS 3 Xrotation Yrotation Zrotation 84 | JOINT LeftForeArm 85 | { 86 | OFFSET 10.94419 -0.00004 0.00000 87 | CHANNELS 3 Xrotation Yrotation Zrotation 88 | JOINT LeftHand 89 | { 90 | OFFSET 8.52010 -0.00003 0.00000 91 | CHANNELS 3 Xrotation Yrotation Zrotation 92 | JOINT LeftHandThumb 93 | { 94 | OFFSET 0.00000 0.00000 0.00000 95 | CHANNELS 3 Xrotation Yrotation Zrotation 96 | End Site 97 | { 98 | OFFSET 0.00000 0.00000 3.93700 99 | } 100 | } 101 | JOINT L_Wrist_End 102 | { 103 | OFFSET 3.93700 -0.00001 0.00000 104 | CHANNELS 3 Xrotation Yrotation Zrotation 105 | } 106 | } 107 | } 108 | } 109 | } 110 | JOINT RightShoulder 111 | { 112 | OFFSET 0.00000 7.82687 0.00000 113 | CHANNELS 3 Xrotation Yrotation Zrotation 114 | JOINT RightArm 115 | { 116 | OFFSET -6.71018 -0.00002 0.00000 117 | CHANNELS 3 Xrotation Yrotation Zrotation 118 | JOINT RightForeArm 119 | { 120 | OFFSET -10.94419 -0.00004 0.00000 121 | CHANNELS 3 Xrotation Yrotation Zrotation 122 | JOINT RightHand 123 | { 124 | OFFSET -8.52010 -0.00003 0.00000 125 | CHANNELS 3 Xrotation Yrotation Zrotation 126 | JOINT RightHandThumb 127 | { 128 | OFFSET 0.00000 0.00000 0.00000 129 | CHANNELS 3 Xrotation Yrotation Zrotation 130 | End Site 131 | { 132 | OFFSET 0.00000 0.00000 3.93700 133 | } 134 | } 135 | JOINT R_Wrist_End 136 | { 137 | OFFSET -5.39369 -0.00002 0.00000 138 | CHANNELS 3 Xrotation Yrotation Zrotation 139 | } 140 | } 141 | } 142 | } 143 | } 144 | } 145 | } 146 | } 147 | MOTION 148 | Frames: 270 149 | Frame Time: 0.008333 150 | 5.1427 32.5308 -24.4088 175.4297 -84.6676 177.0380 5.1641 0.0637 -1.4733 6.4424 0.0000 -0.0000 -16.9560 -10.0679 -4.6103 6.7406 -0.0000 0.0000 -28.0066 -1.4743 -4.3211 48.3675 -0.0000 0.0000 -17.5855 0.1341 -2.1360 1.7613 0.0000 -0.0000 -3.5592 1.4173 -1.2928 11.0662 -0.2455 -0.0881 2.6553 3.6753 -6.2616 -0.3494 -0.7262 6.4546 19.9245 11.7831 -5.5731 -19.4988 -44.0702 -67.9855 -0.0001 -20.1660 -0.0000 -8.4736 -0.3615 -13.6991 -0.0000 0.0000 0.0000 -0.0000 0.0000 0.0000 15.1977 -18.6264 5.0436 -4.8805 40.8794 75.0516 -0.0001 18.8500 0.0000 -25.0333 -4.3253 11.7048 0.0000 -0.0000 -0.0000 0.0000 -0.0000 -0.0000 151 | 4.8808 32.5046 -24.4510 174.9970 -84.6541 176.5895 5.6218 0.0297 -1.4365 6.4262 0.0000 -0.0000 -17.2901 -9.9709 -4.5624 6.6165 0.0000 0.0000 -27.9866 -1.2850 -4.2945 45.3517 0.0000 0.0000 -17.1192 0.1951 -1.9741 1.5603 -0.0000 -0.0000 -3.4722 1.3513 -1.2767 10.9265 -0.3082 -0.0704 2.5597 3.7264 -6.2132 -0.7205 -0.6469 6.4098 19.9168 11.6404 -5.5711 -19.3301 -43.9303 -67.4420 -0.0001 -20.8252 -0.0000 -8.3081 -0.2366 -13.5300 0.0000 0.0000 -0.0000 0.0000 0.0000 -0.0000 15.2952 -18.5362 5.0690 -4.5218 41.0606 74.9767 -0.0001 18.7719 0.0000 -25.0060 -4.3552 11.5977 -0.0000 0.0000 -0.0000 -0.0000 0.0000 -0.0000 152 | 4.6214 32.4748 -24.5109 173.0126 -84.6776 174.3680 5.8776 0.0375 -1.1273 6.5281 0.0000 0.0000 -17.7538 -9.9457 -4.6634 6.3321 0.0000 0.0000 -27.9726 -1.2656 -4.0566 42.0508 -0.0000 0.0000 -16.4097 0.2097 -1.6790 1.6730 -0.0000 -0.0000 -3.6199 1.3072 -1.1490 11.0366 -0.3246 0.1288 2.3337 3.5570 -6.2180 -1.2426 -0.4799 6.3213 20.0530 11.6689 -5.7305 -19.5875 -44.4560 -66.9231 -0.0001 -21.0430 -0.0000 -8.3474 -0.4246 -13.4586 0.0000 0.0000 -0.0000 0.0000 0.0000 -0.0000 15.1219 -18.6530 4.9995 -4.1907 41.1527 75.0093 -0.0001 18.7112 0.0000 -24.8054 -4.5402 11.6648 -0.0000 -0.0000 0.0000 -0.0000 -0.0000 0.0000 153 | 4.3511 32.4420 -24.5548 172.5880 -84.6755 173.9386 6.3033 -0.0485 -1.1039 6.5940 -0.0000 0.0000 -18.0960 -9.8274 -4.4252 6.0131 -0.0000 -0.0000 -27.7404 -1.2695 -4.1183 38.4299 -0.0000 0.0000 -15.5232 0.4279 -1.4872 1.9751 -0.0000 0.0000 -3.5473 1.2543 -1.1442 10.8955 -0.3715 0.1549 2.2793 3.5552 -6.1850 -1.7404 -0.4363 6.3038 19.8923 11.5727 -5.6268 -19.3543 -44.4268 -66.5231 -0.0001 -21.5317 -0.0000 -8.1971 -0.3537 -13.3443 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 15.3083 -18.5965 5.0467 -3.9317 41.3466 74.9071 -0.0001 18.6110 0.0000 -24.7056 -4.5418 11.7657 0.0000 -0.0000 -0.0000 0.0000 -0.0000 -0.0000 154 | 4.0787 32.4094 -24.5956 172.0031 -84.6758 173.3296 6.6620 -0.2169 -1.0790 6.7770 0.0000 -0.0000 -18.4658 -9.6241 -4.2446 5.8217 -0.0000 0.0000 -27.4240 -1.2220 -4.1789 34.7706 0.0000 0.0000 -14.3068 0.7043 -0.7345 1.9838 0.0000 0.0000 -3.5516 1.2249 -1.0914 10.8920 -0.3961 0.1949 2.2301 3.4924 -6.2414 -2.4311 -0.4135 6.3418 19.9281 11.3932 -5.6737 -19.2855 -44.4755 -65.9763 -0.0001 -21.9975 -0.0000 -9.1746 -0.4382 -13.3593 -0.0000 0.0000 -0.0000 -0.0000 0.0000 -0.0000 15.3787 -18.5805 5.0780 -3.6362 41.5263 74.7793 -0.0001 18.5782 0.0000 -24.7083 -4.7074 11.7127 -0.0000 0.0000 -0.0000 -0.0000 0.0000 -0.0000 155 | 3.8053 32.3711 -24.6497 170.5479 -84.7002 171.7597 6.9457 -0.3057 -0.9181 6.9645 -0.0000 0.0000 -18.9106 -9.5175 -4.1559 5.6594 0.0000 0.0000 -27.0686 -1.2373 -4.1460 30.9113 0.0000 0.0000 -12.8927 1.0463 0.1334 2.3078 0.0000 -0.0000 -3.7181 1.2118 -1.0053 11.1201 -0.3964 0.3018 1.8532 3.4134 -6.2324 -2.8420 -0.3977 6.2604 19.9281 11.4127 -5.7390 -19.4262 -45.0688 -65.4914 -0.0001 -22.1516 -0.0000 -9.0059 -0.5151 -13.3398 0.0000 -0.0000 -0.0000 0.0000 -0.0000 -0.0000 15.1388 -18.7190 4.9706 -3.3705 41.6972 74.8547 -0.0001 18.4114 0.0000 -24.2952 -4.6905 11.8224 -0.0000 0.0000 0.0000 -0.0000 0.0000 0.0000 156 | 3.5270 32.3284 -24.6948 170.0372 -84.6874 171.2466 7.3242 -0.4284 -0.9088 7.1467 -0.0000 0.0000 -19.2997 -9.3181 -3.8914 5.4712 -0.0000 -0.0000 -26.5864 -1.1853 -4.2457 26.9732 0.0000 -0.0000 -11.2432 1.5748 1.3004 2.4758 0.0000 0.0000 -3.6435 1.1901 -0.9838 10.9381 -0.4109 0.3336 1.9189 3.2966 -6.2321 -3.6667 -0.3539 6.2086 19.8137 11.3680 -5.6327 -19.3956 -45.0525 -65.2919 -0.0001 -22.4140 -0.0000 -8.4212 -0.4767 -13.4745 0.0000 -0.0000 0.0000 0.0000 -0.0000 0.0000 15.3768 -18.6686 4.9984 -3.1869 41.8029 74.7510 -0.0001 18.3909 0.0000 -24.0936 -4.8244 11.8475 -0.0000 0.0000 -0.0000 -0.0000 0.0000 -0.0000 157 | 3.2475 32.2877 -24.7411 169.2383 -84.7208 170.4318 7.6408 -0.5846 -0.8785 7.4169 0.0000 -0.0000 -19.6910 -9.1171 -3.7118 5.2658 -0.0000 0.0000 -26.0353 -1.2322 -4.3634 22.9165 -0.0000 0.0000 -9.2239 2.3070 1.8852 1.9996 0.0000 0.0000 -3.6712 1.1730 -0.9343 10.9373 -0.4242 0.3691 1.8846 3.1510 -6.2583 -4.4872 -0.3471 6.1757 19.8823 11.1807 -5.6557 -19.4115 -45.1582 -64.8203 -0.0001 -22.7201 -0.0000 -8.3282 -0.4291 -13.4576 0.0000 -0.0000 0.0000 0.0000 -0.0000 0.0000 15.4826 -18.6509 5.0547 -2.9132 41.9438 74.5656 -0.0001 18.4312 0.0000 -24.1934 -4.8871 11.8648 -0.0000 0.0000 -0.0000 -0.0000 0.0000 -0.0000 158 | 2.9611 32.2437 -24.7915 168.3277 -84.7593 169.5067 7.9785 -0.6878 -0.8344 7.6532 -0.0000 0.0000 -20.1473 -8.9746 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31.9872 -25.1065 161.5848 -85.2078 162.6449 8.9853 -0.7357 -0.3266 10.0502 -0.0000 0.0000 -22.5175 -8.9747 -2.9817 4.3949 0.0000 0.0000 -23.0730 -2.4018 -4.7511 2.9940 0.0000 -0.0000 -5.4068 4.8023 4.9724 1.9636 -0.0000 -0.0000 -3.9938 1.2059 -0.6853 11.0459 -0.3660 0.5744 1.0661 1.8803 -6.3291 -9.2563 -0.6187 6.0010 19.7340 10.5910 -5.6199 -19.7330 -46.6706 -62.7380 -0.0001 -23.2380 -0.0000 -8.4677 -0.4916 -13.6248 -0.0000 0.0000 -0.0000 -0.0000 0.0000 -0.0000 15.5170 -18.6482 5.2925 -1.3819 42.2889 73.7744 -0.0001 18.4236 0.0000 -24.0542 -5.2072 12.3910 -0.0000 0.0000 -0.0000 -0.0000 0.0000 -0.0000 164 | 1.2306 31.9274 -25.2074 157.3126 -85.3176 158.1361 8.8511 -0.6264 0.1310 10.8043 0.0000 0.0000 -23.2438 -9.1787 -3.4648 4.2810 0.0000 0.0000 -23.0587 -2.8138 -4.5170 1.4311 -0.0000 -0.0000 -6.4835 3.6429 6.0417 1.8161 0.0000 -0.0000 -4.2805 1.1075 -0.6005 11.2009 -0.4173 0.8165 0.5597 1.4809 -6.3896 -9.7157 -0.3927 5.9825 19.7550 10.7397 -5.7972 -19.9093 -47.2003 -62.3648 -0.0001 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-0.0001 18.2022 0.0000 -23.8286 -5.4546 12.5768 -0.0000 -0.0000 0.0000 -0.0000 -0.0000 0.0000 168 | 0.0264 31.7122 -25.5420 151.9592 -86.0278 152.7187 9.1922 -1.7129 0.7298 14.4182 0.0000 -0.0000 -24.9081 -8.8339 -2.8885 2.5827 0.0000 -0.0000 -23.5740 -3.8701 -4.8180 2.8912 0.0000 0.0000 -10.5812 -0.9026 7.7659 1.6987 -0.0000 -0.0000 -4.2197 1.1096 -0.6095 11.1066 -0.3666 1.0081 0.5573 0.2431 -6.2364 -13.8187 -0.7816 5.6022 19.7130 10.1989 -5.7474 -20.5256 -47.6067 -61.7760 -0.0001 -22.6846 -0.0000 -8.3981 -0.5645 -13.5460 -0.0000 0.0000 -0.0000 -0.0000 0.0000 -0.0000 15.7098 -18.3487 5.6487 -0.8440 42.8409 72.9308 -0.0001 18.0487 0.0000 -23.7647 -5.4656 12.6987 -0.0000 0.0000 -0.0000 -0.0000 0.0000 -0.0000 169 | -0.2773 31.6677 -25.6290 151.7909 -86.0377 152.5176 9.3123 -1.9807 0.8607 15.3390 -0.0000 0.0000 -25.1634 -8.6358 -2.8592 2.0526 -0.0000 0.0000 -23.9629 -4.3906 -4.8065 4.4996 -0.0000 -0.0000 -10.6833 -1.2028 7.0993 1.6008 0.0000 0.0000 -4.2217 1.1595 -0.5864 11.1614 -0.3024 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