Fairmotion Save/Load Metadata via JSON

[JuanTheEngineer]

Motivation and Context

This PR give FairmotionInterface users the ability to save and load their MoCap Character data to and from JSON metadata files. It also allows for rapid testing by simplifying data setting.

Features

• A default file and metadata directory will always be created if missing on init().
• Metadata includes, model build data, motion data, and character rotation and translation offsets.
• Use command-line arguments to Load whole metadata files or individual attributes completed with default data into the character on init().
• Save and Load metadata files with P and L, respectively.
• Quickly Save to generated timestamped file for easy metadata capturing and avoiding user input prompts ("user_YY-MM-DD_hh-mm-ss").
• Quickly Save to last file fetched for easy file editing with SHIFT+P. This is useful for saving change made by the character mouse positioning.
• Quickly check what the last file fetched was with CTRL+P.
• Complex object parsing for including magnum types in metadata files.
• User input sanitization for file paths.
• TIP: To rapidly test data attributes, open the default JSON file in the metadata directory and manually modify and save data. Then press R to Reconfigure the scene and character, and press F to Load character data from the default JSON file.

Example Metadata:

{
        "urdf_path": "../habitat-sim/data/test_assets/urdf/amass_male.urdf",
        "amass_path": "../fairmotion/amass_test_data/CMU/CMU/06/06_12_poses.npz",
        "bm_path": "../fairmotion/amass_test_data/smplh/male/model.npz",
        "rotation": Quaternion.rotation(Deg(-90), Vector3.x_axis())
        * Quaternion.rotation(Deg(90), Vector3.z_axis()),
        "translation": Vector3([2.5, 0.0, 0.7])
}

Example Metadata in JSON file:

{"urdf_path": "../habitat-sim/data/test_assets/urdf/amass_male.urdf", "amass_path": "../fairmotion/amass_test_data/CMU/CMU/07/07_01_poses.npz", "bm_path": "../fairmotion/amass_test_data/smplh/male/model.npz", "rotation": [[-0.4999999701976776, 0.4999999701976776, 0.4999999701976776], 0.4999999701976776], "translation": [2.5, 0.07000000029802322, 0.699999988079071]}

How Has This Been Tested

Link to list of test cases passed

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[aclegg3]

A couple things to clean up and then should be ready. Functionality is fine.

[aclegg3]

Looks good.