Update

Skylark0924 · Nov 22, 2024 · 0a7e004 · 0a7e004
1 parent 2e10051
commit 0a7e004
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Showing 2 changed files with 35 additions and 35 deletions.
diff --git a/examples/visualab/example_get_ergo_manip_from_optitrack_fbx.py b/examples/visualab/example_get_ergo_manip_from_optitrack_fbx.py
@@ -115,7 +115,7 @@ def update(frame):
 
 if __name__ == "__main__":
     gpu_id = 0
-    input_file_name = 'demo_3_chenzui_only'
+    input_file_name = 'demo_3_andrew_only'
 
     # # Calculate from optitrack data to HOTU joint information
     parser = argparse.ArgumentParser()
@@ -144,10 +144,10 @@ def update(frame):
     else:
         with tqdm(total=len(fbx_files)) as pbar:
             for fbx_file in fbx_files:
-                npy_from_fbx(fbx_file)
+                npy_from_fbx(args, fbx_file)
                 pbar.update(1)
 
-    # # Calculate joint angles
+    # # # Calculate joint angles
     parser.add_argument("--motion_file", type=str, default=rf.oslab.get_rofunc_path(
         f"../examples/data/hotu2/{input_file_name}_optitrack2hotu.npy"))
     custom_args = parser.parse_args()

diff --git a/rofunc/utils/datalab/poselib/robot_utils/HOTU/optitrack_fbx_to_hotu_npy.py b/rofunc/utils/datalab/poselib/robot_utils/HOTU/optitrack_fbx_to_hotu_npy.py
@@ -225,7 +225,7 @@ def _run_sim(motion):
                   "right_qbhand_ring_middle_link", "right_qbhand_ring_distal_link",
                   "right_qbhand_little_proximal_link", "right_qbhand_little_middle_link",
                   "right_qbhand_little_distal_link"]
-    hand_ids = [motion.skeleton_tree._node_indices[link] for link in hand_links]
+    # hand_ids = [motion.skeleton_tree._node_indices[link] for link in hand_links]
     # all_links = body_links + hand_links
     # all_ids = body_ids + hand_ids
     all_links = list(body_links.keys())
@@ -359,7 +359,7 @@ def motion_retargeting(retarget_cfg, source_motion, visualize=False):
     # rf.logger.beauty_print(f"Saved HOTU dof_states to {retarget_cfg['target_motion_path']}", type="module")
 
 
-def npy_from_fbx(fbx_file):
+def npy_from_fbx(args, fbx_file):
     """
     This scripts shows how to retarget a motion clip from the source skeleton to a target skeleton.
     Data required for retargeting are stored in a retarget config dictionary as a json file. This file contains:
@@ -399,36 +399,36 @@ def npy_from_fbx(fbx_file):
             "Skeleton_RightForeArm": "right_lower_arm",
             "Skeleton_RightHand": "right_hand",
             # extra mapping for hotu_humanoid_w_qbhand.xml
-            "Skeleton_LeftHandThumb1": "left_qbhand_thumb_knuckle_link",
-            "Skeleton_LeftHandThumb2": "left_qbhand_thumb_proximal_link",
-            "Skeleton_LeftHandThumb3": "left_qbhand_thumb_distal_link",
-            "Skeleton_LeftHandIndex1": "left_qbhand_index_proximal_link",
-            "Skeleton_LeftHandIndex2": "left_qbhand_index_middle_link",
-            "Skeleton_LeftHandIndex3": "left_qbhand_index_distal_link",
-            "Skeleton_LeftHandMiddle1": "left_qbhand_middle_proximal_link",
-            "Skeleton_LeftHandMiddle2": "left_qbhand_middle_middle_link",
-            "Skeleton_LeftHandMiddle3": "left_qbhand_middle_distal_link",
-            "Skeleton_LeftHandRing1": "left_qbhand_ring_proximal_link",
-            "Skeleton_LeftHandRing2": "left_qbhand_ring_middle_link",
-            "Skeleton_LeftHandRing3": "left_qbhand_ring_distal_link",
-            "Skeleton_LeftHandPinky1": "left_qbhand_little_proximal_link",
-            "Skeleton_LeftHandPinky2": "left_qbhand_little_middle_link",
-            "Skeleton_LeftHandPinky3": "left_qbhand_little_distal_link",
-            "Skeleton_RightHandThumb1": "right_qbhand_thumb_knuckle_link",
-            "Skeleton_RightHandThumb2": "right_qbhand_thumb_proximal_link",
-            "Skeleton_RightHandThumb3": "right_qbhand_thumb_distal_link",
-            "Skeleton_RightHandIndex1": "right_qbhand_index_proximal_link",
-            "Skeleton_RightHandIndex2": "right_qbhand_index_middle_link",
-            "Skeleton_RightHandIndex3": "right_qbhand_index_distal_link",
-            "Skeleton_RightHandMiddle1": "right_qbhand_middle_proximal_link",
-            "Skeleton_RightHandMiddle2": "right_qbhand_middle_middle_link",
-            "Skeleton_RightHandMiddle3": "right_qbhand_middle_distal_link",
-            "Skeleton_RightHandRing1": "right_qbhand_ring_proximal_link",
-            "Skeleton_RightHandRing2": "right_qbhand_ring_middle_link",
-            "Skeleton_RightHandRing3": "right_qbhand_ring_distal_link",
-            "Skeleton_RightHandPinky1": "right_qbhand_little_proximal_link",
-            "Skeleton_RightHandPinky2": "right_qbhand_little_middle_link",
-            "Skeleton_RightHandPinky3": "right_qbhand_little_distal_link",
+            # "Skeleton_LeftHandThumb1": "left_qbhand_thumb_knuckle_link",
+            # "Skeleton_LeftHandThumb2": "left_qbhand_thumb_proximal_link",
+            # "Skeleton_LeftHandThumb3": "left_qbhand_thumb_distal_link",
+            # "Skeleton_LeftHandIndex1": "left_qbhand_index_proximal_link",
+            # "Skeleton_LeftHandIndex2": "left_qbhand_index_middle_link",
+            # "Skeleton_LeftHandIndex3": "left_qbhand_index_distal_link",
+            # "Skeleton_LeftHandMiddle1": "left_qbhand_middle_proximal_link",
+            # "Skeleton_LeftHandMiddle2": "left_qbhand_middle_middle_link",
+            # "Skeleton_LeftHandMiddle3": "left_qbhand_middle_distal_link",
+            # "Skeleton_LeftHandRing1": "left_qbhand_ring_proximal_link",
+            # "Skeleton_LeftHandRing2": "left_qbhand_ring_middle_link",
+            # "Skeleton_LeftHandRing3": "left_qbhand_ring_distal_link",
+            # "Skeleton_LeftHandPinky1": "left_qbhand_little_proximal_link",
+            # "Skeleton_LeftHandPinky2": "left_qbhand_little_middle_link",
+            # "Skeleton_LeftHandPinky3": "left_qbhand_little_distal_link",
+            # "Skeleton_RightHandThumb1": "right_qbhand_thumb_knuckle_link",
+            # "Skeleton_RightHandThumb2": "right_qbhand_thumb_proximal_link",
+            # "Skeleton_RightHandThumb3": "right_qbhand_thumb_distal_link",
+            # "Skeleton_RightHandIndex1": "right_qbhand_index_proximal_link",
+            # "Skeleton_RightHandIndex2": "right_qbhand_index_middle_link",
+            # "Skeleton_RightHandIndex3": "right_qbhand_index_distal_link",
+            # "Skeleton_RightHandMiddle1": "right_qbhand_middle_proximal_link",
+            # "Skeleton_RightHandMiddle2": "right_qbhand_middle_middle_link",
+            # "Skeleton_RightHandMiddle3": "right_qbhand_middle_distal_link",
+            # "Skeleton_RightHandRing1": "right_qbhand_ring_proximal_link",
+            # "Skeleton_RightHandRing2": "right_qbhand_ring_middle_link",
+            # "Skeleton_RightHandRing3": "right_qbhand_ring_distal_link",
+            # "Skeleton_RightHandPinky1": "right_qbhand_little_proximal_link",
+            # "Skeleton_RightHandPinky2": "right_qbhand_little_middle_link",
+            # "Skeleton_RightHandPinky3": "right_qbhand_little_distal_link",
         },
         # "rotation": [0.707, 0, 0, 0.707], xyzw
         "rotation": [0.5, 0.5, 0.5, 0.5],