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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+# Copyright (c) OpenMMLab. All rights reserved.
+import numpy as np
+
+
+class DatasetInfo:
+
+    def __init__(self, dataset_info):
+        self._dataset_info = dataset_info
+        self.dataset_name = self._dataset_info['dataset_name']
+        self.paper_info = self._dataset_info['paper_info']
+        self.keypoint_info = self._dataset_info['keypoint_info']
+        self.skeleton_info = self._dataset_info['skeleton_info']
+        self.joint_weights = np.array(
+            self._dataset_info['joint_weights'], dtype=np.float32)[:, None]
+
+        self.sigmas = np.array(self._dataset_info['sigmas'])
+
+        self._parse_keypoint_info()
+        self._parse_skeleton_info()
+
+    def _parse_skeleton_info(self):
+        """Parse skeleton information.
+
+        - link_num (int): number of links.
+        - skeleton (list((2,))): list of links (id).
+        - skeleton_name (list((2,))): list of links (name).
+        - pose_link_color (np.ndarray): the color of the link for
+            visualization.
+        """
+        self.link_num = len(self.skeleton_info.keys())
+        self.pose_link_color = []
+
+        self.skeleton_name = []
+        self.skeleton = []
+        for skid in self.skeleton_info.keys():
+            link = self.skeleton_info[skid]['link']
+            self.skeleton_name.append(link)
+            self.skeleton.append([
+                self.keypoint_name2id[link[0]], self.keypoint_name2id[link[1]]
+            ])
+            self.pose_link_color.append(self.skeleton_info[skid].get(
+                'color', [255, 128, 0]))
+        self.pose_link_color = np.array(self.pose_link_color)
+
+    def _parse_keypoint_info(self):
+        """Parse keypoint information.
+
+        - keypoint_num (int): number of keypoints.
+        - keypoint_id2name (dict): mapping keypoint id to keypoint name.
+        - keypoint_name2id (dict): mapping keypoint name to keypoint id.
+        - upper_body_ids (list): a list of keypoints that belong to the
+            upper body.
+        - lower_body_ids (list): a list of keypoints that belong to the
+            lower body.
+        - flip_index (list): list of flip index (id)
+        - flip_pairs (list((2,))): list of flip pairs (id)
+        - flip_index_name (list): list of flip index (name)
+        - flip_pairs_name (list((2,))): list of flip pairs (name)
+        - pose_kpt_color (np.ndarray): the color of the keypoint for
+            visualization.
+        """
+
+        self.keypoint_num = len(self.keypoint_info.keys())
+        self.keypoint_id2name = {}
+        self.keypoint_name2id = {}
+
+        self.pose_kpt_color = []
+        self.upper_body_ids = []
+        self.lower_body_ids = []
+
+        self.flip_index_name = []
+        self.flip_pairs_name = []
+
+        for kid in self.keypoint_info.keys():
+
+            keypoint_name = self.keypoint_info[kid]['name']
+            self.keypoint_id2name[kid] = keypoint_name
+            self.keypoint_name2id[keypoint_name] = kid
+            self.pose_kpt_color.append(self.keypoint_info[kid].get(
+                'color', [255, 128, 0]))
+
+            type = self.keypoint_info[kid].get('type', '')
+            if type == 'upper':
+                self.upper_body_ids.append(kid)
+            elif type == 'lower':
+                self.lower_body_ids.append(kid)
+            else:
+                pass
+
+            swap_keypoint = self.keypoint_info[kid].get('swap', '')
+            if swap_keypoint == keypoint_name or swap_keypoint == '':
+                self.flip_index_name.append(keypoint_name)
+            else:
+                self.flip_index_name.append(swap_keypoint)
+                if [swap_keypoint, keypoint_name] not in self.flip_pairs_name:
+                    self.flip_pairs_name.append([keypoint_name, swap_keypoint])
+
+        self.flip_pairs = [[
+            self.keypoint_name2id[pair[0]], self.keypoint_name2id[pair[1]]
+        ] for pair in self.flip_pairs_name]
+        self.flip_index = [
+            self.keypoint_name2id[name] for name in self.flip_index_name
+        ]
+        self.pose_kpt_color = np.array(self.pose_kpt_color)