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Visualizing human model in meshcat via SMPL-X

Installation

The SMPL-X library and model data are not included in a standard RoboMeshCat packages. It must be installed as described in SMPL-X package, i.e. by running

pip install smplx[all]

and then downloading the data from here, we use SMPL-X v1_1 data from the webpage. The path to the model must be specified while creating the instance of the Human. In the examples, the following folder structure is assumed:

examples/
  models/  # this is a folder downloaded from the webpage above
    smplx/
      SMPLX_FEMALE.npz
      SMPLX_FEMALE.pkl
      SMPLX_MALE.npz
      ...
  06_human.py # this is an example script

Usage

The human model functionality is available through the class Human. You can change human pose (i.e. position and orientation), color, visibility, etc. in the same way as for regular RoboMeshCat objects, and you can also change the body pose (i.e. configuration), shape and expression through the instance of the class. For complete example have a look at 06_human.py.

Online usage

human = Human(pose=human_default_pose, color=[1., 0., 0.], model_path=smplx_models_path)
scene.add_object(human)  # add human to the scene, it will be visualized immediately

human.update_vertices(vertices=human.get_vertices(expression=torch.randn([1, 10])))

human.smplx_model.body_pose.data += 0.1
human.update_vertices()

Animation

Function update_vertices cannot be used in animation as it is modifying geometry of the object internally. Instead, you need to use 'morphologies', that need to be specified before adding human to the scene:

human = Human(pose=human_default_pose, color=[1., 0., 0.], model_path=smplx_models_path)
human.smplx_model.betas.data += 1
human.add_morph(human.get_vertices())  # the first morph changes the shape

human.smplx_model.body_pose.data += 0.1
human.add_morph(human.get_vertices())  # the second morp changes the body pose

scene.add_object(human)  # add human to the scene, no morphology can be added/modified after this step

"Let's animate"
with scene.animation(fps=1):
    human.display_morph(None)  # this will display the human shape that is not affected by morphologies
    scene.render()

    human.display_morph(0)
    scene.render()

    human.display_morph(1)
    scene.render()

Coloring of human

You have two options to color the human mesh: (i) uniform color and (ii) per vertex color. Uniform color is default, it can be set with color argument of human and changed/animated by .color property.

Per vertex color cannot be animated as it requires to change the geometry internally.