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 numpy as np
+SNAP_PARENT = [
+    0,  # 0's parent
+    0,  # 1's parent
+    1,
+    2,
+    3,
+    0,  # 5's parent
+    5,
+    6,
+    7,
+    0,  # 9's parent
+    9,
+    10,
+    11,
+    0,  # 13's parent
+    13,
+    14,
+    15,
+    0,  # 17's parent
+    17,
+    18,
+    19,
+]
+
+JOINT_ROOT_IDX = 9
+
+REF_BONE_LINK = (0, 9)  # mid mcp
+
+# bone indexes in 20 bones setting
+ID_ROOT_bone = np.array([0, 4, 8, 12, 16])  # ROOT_bone from wrist to MCP
+ID_PIP_bone = np.array([1, 5, 9, 13, 17])  # PIP_bone from MCP to PIP
+ID_DIP_bone = np.array([2, 6, 10, 14, 18])  # DIP_bone from  PIP to DIP
+ID_TIP_bone = np.array([3, 7, 11, 15, 19])  # TIP_bone from DIP to TIP