Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
7002 changed files with 1452249 additions and 0 deletions
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+import os
+
+import numpy as np
+import yaml
+
+
+class Struct:
+    def __init__(self, **entries):
+        self.__dict__.update(entries)
+
+
+class Arguments:
+    def __init__(self, base_dir, config_path, filename='default.yaml'):
+        with open(os.path.join(config_path, 'mano.yaml'), 'r') as f:
+            smpl = yaml.safe_load(f)
+
+        self.smpl = Struct(**smpl)
+        self.smpl.offsets['right'] = np.array(self.smpl.offsets['right'])
+        self.smpl.offsets['left'] = np.array(self.smpl.offsets['left'])
+        self.smpl.parents = np.array(self.smpl.parents).astype(np.int32)
+        self.smpl.joint_num = 16 # len(self.smpl.joints_to_use)
+        self.smpl.joints_to_use = np.array(self.smpl.joints_to_use)
+        self.smpl.joints_to_use = np.arange(0, 63).reshape((-1, 3))[self.smpl.joints_to_use].reshape(-1)
+        self.smpl.smpl_body_model = os.path.join(base_dir, '_DATA/data/mano')
+
+        self.filename = os.path.splitext(filename)[0]
+        with open(os.path.join(config_path, filename), 'r') as f:
+            config = yaml.safe_load(f)
+
+        for key, value in config.items():
+            if isinstance(value, dict):
+                setattr(self, key, Struct(**value))
+            else:
+                setattr(self, key, value)
+
+        self.json = config