test_humanbody_ik

1. Basic Features

• Demonstrate the human body IK (Inverse Kinematics) interface.

2. Implementation Process

2.1 Initialize the Environment

env = RFUniverseBaseEnv(scene_file="HumanBodyIK.json", ext_attr=[HumanbodyAttr])
env.step()

2.2 Demonstrate the Human Body IK Interface

human = env.GetAttr(168242)
for index in range(5):
    human.HumanIKTargetDoMove(
        index=index, position=[0, 0, 0.5], duration=1, speed_based=False, relative=True
    )
    human.WaitDo()
    human.HumanIKTargetDoMove(
        index=index, position=[0, 0, 0.5], duration=1, speed_based=False, relative=True
    )
    human.WaitDo()
    human.HumanIKTargetDoMove(
        index=index, position=[0, 0, -0.5], duration=1, speed_based=False, relative=True
    )
    human.WaitDo()
    human.HumanIKTargetDoMove(
        index=index, position=[0, -0.5, 0], duration=1, speed_based=False, relative=True
    )
    human.WaitDo()

env.Pend()
env.close()

• HumanIKTargetDoMove can control the movement of the human body’s limbs to a specified position.

  • index: The target of the movement.

    • 0: Left hand

    • 1: Right hand

    • 2: Left foot

    • 3: Right foot

    • 4: Head

  • position: The endpoint position of the movement.

  • duration: If the speed_based parameter is set to True, this parameter represents the time required for the movement; if the speed_based parameter is set to False, it represents the speed of the movement.

  • speed_based: As described above, defaults to True.

  • relative: If True, it is a relative coordinate; otherwise, it is a world absolute coordinate.