add more skeleton config
This commit is contained in:
shuaiqing
parent
0ebb1d25b7
commit
0fb7de5499
@ -2,12 +2,17 @@
|
||||
* @ Date: 2020-09-26 16:52:55
|
||||
* @ Author: Qing Shuai
|
||||
@ LastEditors: Qing Shuai
|
||||
@ LastEditTime: 2021-05-27 14:33:03
|
||||
@ FilePath: /EasyMocap/easymocap/dataset/config.py
|
||||
@ LastEditTime: 2022-09-30 15:45:07
|
||||
@ FilePath: /EasyMocapPublic/easymocap/dataset/config.py
|
||||
'''
|
||||
import numpy as np
|
||||
|
||||
CONFIG = {}
|
||||
CONFIG = {
|
||||
'points': {
|
||||
'nJoints': 1,
|
||||
'kintree': []
|
||||
}
|
||||
}
|
||||
|
||||
CONFIG['smpl'] = {'nJoints': 24, 'kintree':
|
||||
[
|
||||
@ -63,6 +68,97 @@ CONFIG['smpl'] = {'nJoints': 24, 'kintree':
|
||||
]
|
||||
}
|
||||
|
||||
CONFIG['smplh'] = {'nJoints': 52, 'kintree':
|
||||
[
|
||||
[ 1, 0],
|
||||
[ 2, 0],
|
||||
[ 3, 0],
|
||||
[ 4, 1],
|
||||
[ 5, 2],
|
||||
[ 6, 3],
|
||||
[ 7, 4],
|
||||
[ 8, 5],
|
||||
[ 9, 6],
|
||||
[ 10, 7],
|
||||
[ 11, 8],
|
||||
[ 12, 9],
|
||||
[ 13, 9],
|
||||
[ 14, 9],
|
||||
[ 15, 12],
|
||||
[ 16, 13],
|
||||
[ 17, 14],
|
||||
[ 18, 16],
|
||||
[ 19, 17],
|
||||
[ 20, 18],
|
||||
[ 21, 19],
|
||||
[ 22, 20],
|
||||
[ 23, 22],
|
||||
[ 24, 23],
|
||||
[ 25, 20],
|
||||
[ 26, 25],
|
||||
[ 27, 26],
|
||||
[ 28, 20],
|
||||
[ 29, 28],
|
||||
[ 30, 29],
|
||||
[ 31, 20],
|
||||
[ 32, 31],
|
||||
[ 33, 32],
|
||||
[ 34, 20],
|
||||
[ 35, 34],
|
||||
[ 36, 35],
|
||||
[ 37, 21],
|
||||
[ 38, 37],
|
||||
[ 39, 38],
|
||||
[ 40, 21],
|
||||
[ 41, 40],
|
||||
[ 42, 41],
|
||||
[ 43, 21],
|
||||
[ 44, 43],
|
||||
[ 45, 44],
|
||||
[ 46, 21],
|
||||
[ 47, 46],
|
||||
[ 48, 47],
|
||||
[ 49, 21],
|
||||
[ 50, 49],
|
||||
[ 51, 50]
|
||||
],
|
||||
'joint_names': [
|
||||
'MidHip', # 0
|
||||
'LUpLeg', # 1
|
||||
'RUpLeg', # 2
|
||||
'spine', # 3
|
||||
'LLeg', # 4
|
||||
'RLeg', # 5
|
||||
'spine1', # 6
|
||||
'LFoot', # 7
|
||||
'RFoot', # 8
|
||||
'spine2', # 9
|
||||
'LToeBase', # 10
|
||||
'RToeBase', # 11
|
||||
'neck', # 12
|
||||
'LShoulder', # 13
|
||||
'RShoulder', # 14
|
||||
'head', # 15
|
||||
'LArm', # 16
|
||||
'RArm', # 17
|
||||
'LForeArm', # 18
|
||||
'RForeArm', # 19
|
||||
'LHand', # 20
|
||||
'RHand', # 21
|
||||
'LHandIndex1', # 22
|
||||
'RHandIndex1', # 23
|
||||
]
|
||||
}
|
||||
|
||||
CONFIG['coco'] = {
|
||||
'nJoints': 17,
|
||||
'kintree': [
|
||||
[0, 1], [0, 2], [1, 3], [2, 4], [0, 5], [0, 6], [5, 6], [5, 7], [6, 8], [7, 9], [8, 10], [5, 11], [5, 12], [11, 12], [11, 13], [12, 14], [13, 15], [14, 16]
|
||||
],
|
||||
}
|
||||
|
||||
CONFIG['coco_17'] = CONFIG['coco']
|
||||
|
||||
CONFIG['body25'] = {'nJoints': 25, 'kintree':
|
||||
[[ 1, 0],
|
||||
[ 2, 1],
|
||||
@ -145,7 +241,55 @@ CONFIG['body25']['skeleton'] = \
|
||||
(11, 24): {'mean': 0.044, 'std': 0.009}, # RAnkle ->RHeel
|
||||
}
|
||||
|
||||
CONFIG['body15'] = {'nJoints': 15, 'kintree':
|
||||
CONFIG['body25vis'] = {
|
||||
'nJoints': 25,
|
||||
'kintree': [
|
||||
[8, 1], # 躯干放在最前面
|
||||
[8, 9],
|
||||
[8, 12],
|
||||
[9, 10],
|
||||
[12, 13],
|
||||
[10, 11],
|
||||
[13, 14],
|
||||
[11, 22],
|
||||
[14, 19],
|
||||
[1, 2],
|
||||
[1, 5],
|
||||
[2, 3],
|
||||
[3, 4],
|
||||
[5, 6],
|
||||
[6, 7],
|
||||
[1, 0]]
|
||||
}
|
||||
|
||||
CONFIG['handvis'] = {
|
||||
'nJoints': 21,
|
||||
'kintree': [
|
||||
[0, 1],
|
||||
[0, 5],
|
||||
[0, 9],
|
||||
[0, 13],
|
||||
[0, 17],
|
||||
[1, 2],
|
||||
[2, 3],
|
||||
[3, 4],
|
||||
[5, 6],
|
||||
[6, 7],
|
||||
[7, 8],
|
||||
[9, 10],
|
||||
[10, 11],
|
||||
[11, 12],
|
||||
[13, 14],
|
||||
[14, 15],
|
||||
[15, 16],
|
||||
[17, 18],
|
||||
[18, 19],
|
||||
[19, 20]
|
||||
]
|
||||
}
|
||||
|
||||
CONFIG['body15'] = {'nJoints': 15, 'root': 8,
|
||||
'kintree':
|
||||
[[ 1, 0],
|
||||
[ 2, 1],
|
||||
[ 3, 2],
|
||||
@ -159,18 +303,89 @@ CONFIG['body15'] = {'nJoints': 15, 'kintree':
|
||||
[11, 10],
|
||||
[12, 8],
|
||||
[13, 12],
|
||||
[14, 13],]}
|
||||
[14, 13]], 'root': 8,}
|
||||
CONFIG['body15']['joint_names'] = CONFIG['body25']['joint_names'][:15]
|
||||
CONFIG['body15']['skeleton'] = {key: val for key, val in CONFIG['body25']['skeleton'].items() if key[0] < 15 and key[1] < 15}
|
||||
CONFIG['body15']['kintree_order'] = CONFIG['body25']['kintree_order'][:14]
|
||||
CONFIG['body15']['colors'] = CONFIG['body25']['colors'][:15]
|
||||
|
||||
CONFIG['body19'] = {'nJoints': 19, 'kintree': [[i, j] for (i, j) in CONFIG['body25']['kintree'] if i < 19 and j < 19]}
|
||||
CONFIG['body19']['skeleton'] = {key: val for key, val in CONFIG['body25']['skeleton'].items() if key[0] < 19 and key[1] < 19}
|
||||
|
||||
CONFIG['panoptic'] = {
|
||||
'nJoints': 19,
|
||||
'joint_names': ['Neck', 'Nose', 'MidHip', 'LShoulder', 'LElbow', 'LWrist', 'LHip', 'LKnee', 'LAnkle', 'RShoulder','RElbow', 'RWrist', 'RHip','RKnee', 'RAnkle', 'LEye', 'LEar', 'REye', 'REar']
|
||||
'joint_names': ['Neck', 'Nose', 'MidHip', 'LShoulder', 'LElbow', 'LWrist', 'LHip', 'LKnee', 'LAnkle', 'RShoulder','RElbow', 'RWrist', 'RHip','RKnee', 'RAnkle', 'LEye', 'LEar', 'REye', 'REar'],
|
||||
'kintree': [[0, 1],
|
||||
[0, 2],
|
||||
[0, 3],
|
||||
[3, 4],
|
||||
[4, 5],
|
||||
[0, 9],
|
||||
[9, 10],
|
||||
[10, 11],
|
||||
[2, 6],
|
||||
[2, 12],
|
||||
[6, 7],
|
||||
[7, 8],
|
||||
[12, 13],
|
||||
[13, 14]],
|
||||
'colors': ['b' for _ in range(19)]
|
||||
}
|
||||
|
||||
CONFIG['hand'] = {'kintree':
|
||||
CONFIG['panoptic15'] = {
|
||||
'nJoints': 15,
|
||||
'root': 2,
|
||||
'joint_names': CONFIG['panoptic']['joint_names'][:15],
|
||||
'kintree': [[i, j] for (i, j) in CONFIG['panoptic']['kintree'] if i < 15 and j < 15],
|
||||
'limb_mean': [0.1129,0.4957,0.1382,0.2547,0.2425,0.1374,0.2549,0.2437,0.1257,0.1256, 0.4641,0.4580,0.4643,0.4589],
|
||||
'limb_std': [0.0164,0.0333,0.0078,0.0237,0.0233,0.0085,0.0233,0.0237,0.0076,0.0076, 0.0273,0.0247,0.0272,0.0242],
|
||||
'colors': CONFIG['panoptic']['colors'][:15]
|
||||
}
|
||||
|
||||
CONFIG['mpii_16'] = {
|
||||
'nJoints': 16,
|
||||
'joint_names': ['rankle', 'rknee', 'rhip', 'lhip', 'lknee', 'lankle', 'pelvis', 'thorax', 'upper_neck', 'head_top', 'rwrist', 'relbow', 'rshoulder', 'lshoulder', 'lelbow', 'lwrist'],
|
||||
'kintree': [[0, 1], [1, 2], [2, 6], [6, 3], [3, 4], [4, 5], [6, 7], [7, 8], [8, 9], [10, 11], [11, 12], [12, 7], [13, 14], [14, 15], [13, 7]],
|
||||
'colors': ['b' for _ in range(16)]
|
||||
}
|
||||
|
||||
CONFIG['ochuman_19'] = {
|
||||
'nJoints': 19,
|
||||
'joint_names': ["right_shoulder", "right_elbow", "right_wrist",
|
||||
"left_shoulder", "left_elbow", "left_wrist",
|
||||
"right_hip", "right_knee", "right_ankle",
|
||||
"left_hip", "left_knee", "left_ankle",
|
||||
"head", "neck"] + ['right_ear', 'left_ear', 'nose', 'right_eye', 'left_eye'],
|
||||
'kintree': [
|
||||
[0, 1], [1, 2], [3, 4], [4, 5],
|
||||
[6, 7], [7, 8], [9, 10], [10, 11],
|
||||
[13, 0], [13, 3], [0, 3], [6, 9],
|
||||
[12, 16], [16, 13], [16, 17], [16, 18], [18, 15], [17, 14],
|
||||
],
|
||||
'colors': ['b' for _ in range(19)]
|
||||
}
|
||||
|
||||
|
||||
CONFIG['chi3d_25'] = {
|
||||
'nJoints': 25,
|
||||
'joint_names': [],
|
||||
'kintree': [[10, 9], [9, 8], [8, 11], [8, 14], [11, 12], [14, 15], [12, 13], [15, 16],
|
||||
[8, 7], [7, 0], [0, 1], [0, 4], [1, 2], [4, 5], [2, 3], [5, 6],
|
||||
[13, 21], [13, 22], [16, 23], [16, 24], [3, 17], [3, 18], [6, 19], [6, 20]],
|
||||
'colors': ['b' for _ in range(25)]
|
||||
}
|
||||
|
||||
CONFIG['chi3d_17'] = {
|
||||
'nJoints': 17,
|
||||
'joint_names': [],
|
||||
'kintree': [[10, 9], [9, 8], [8, 11], [8, 14], [11, 12], [14, 15], [12, 13], [15, 16],
|
||||
[8, 7], [7, 0], [0, 1], [0, 4], [1, 2], [4, 5], [2, 3], [5, 6],
|
||||
],
|
||||
'colors': ['b' for _ in range(17)]
|
||||
}
|
||||
|
||||
|
||||
CONFIG['hand'] = {'nJoints': 21, 'kintree':
|
||||
[[ 1, 0],
|
||||
[ 2, 1],
|
||||
[ 3, 2],
|
||||
@ -192,13 +407,24 @@ CONFIG['hand'] = {'kintree':
|
||||
[19, 18],
|
||||
[20, 19]],
|
||||
'colors': [
|
||||
'k', 'k', 'k', 'k', 'r', 'r', 'r', 'r',
|
||||
'g', 'g', 'g', 'g', 'b', 'b', 'b', 'b',
|
||||
'y', 'y', 'y', 'y']
|
||||
'_k', '_k', '_k', '_k', '_r', '_r', '_r', '_r',
|
||||
'_g', '_g', '_g', '_g', '_b', '_b', '_b', '_b',
|
||||
'_y', '_y', '_y', '_y'],
|
||||
'colorsrhand': [
|
||||
'_pink', '_pink', '_pink', '_pink', '_mint', '_mint', '_mint', '_mint',
|
||||
'_orange', '_orange', '_orange', '_orange', '_mint2', '_mint2', '_mint2', '_mint2',
|
||||
'purple', 'purple', 'purple', 'purple'],
|
||||
'joint_names':[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20]
|
||||
}
|
||||
|
||||
CONFIG['handl'] = CONFIG['hand']
|
||||
CONFIG['handr'] = CONFIG['hand']
|
||||
CONFIG['handlr'] = {
|
||||
'nJoints': 42,
|
||||
'colors': CONFIG['hand']['colors'] + CONFIG['hand']['colorsrhand'],
|
||||
'joint_names': CONFIG['hand']['joint_names'] + CONFIG['hand']['joint_names'],
|
||||
'kintree': np.vstack((np.array(CONFIG['hand']['kintree']), np.array(CONFIG['hand']['kintree'])+21)).tolist()
|
||||
}
|
||||
|
||||
CONFIG['bodyhand'] = {'kintree':
|
||||
[[ 1, 0],
|
||||
@ -267,6 +493,7 @@ CONFIG['bodyhand'] = {'kintree':
|
||||
[66, 65]
|
||||
],
|
||||
'nJoints': 67,
|
||||
'colors': CONFIG['body25']['colors'] + CONFIG['hand']['colors'] + CONFIG['hand']['colors'],
|
||||
'skeleton':{
|
||||
( 0, 1): {'mean': 0.251, 'std': 0.050},
|
||||
( 1, 2): {'mean': 0.169, 'std': 0.034},
|
||||
@ -612,7 +839,8 @@ face_kintree_without_contour = [[ 0, 1],
|
||||
[49, 50],
|
||||
[50, 43]]
|
||||
|
||||
CONFIG['face'] = {'kintree':[ [0,1],[1,2],[2,3],[3,4],[4,5],[5,6],[6,7],[7,8],[8,9],[9,10],[10,11],[11,12],[12,13],[13,14],[14,15],[15,16], #outline (ignored)
|
||||
CONFIG['face'] = {'nJoints': 70,
|
||||
'kintree':[ [0,1],[1,2],[2,3],[3,4],[4,5],[5,6],[6,7],[7,8],[8,9],[9,10],[10,11],[11,12],[12,13],[13,14],[14,15],[15,16], #outline (ignored)
|
||||
[17,18],[18,19],[19,20],[20,21], #right eyebrow
|
||||
[22,23],[23,24],[24,25],[25,26], #left eyebrow
|
||||
[27,28],[28,29],[29,30], #nose upper part
|
||||
@ -648,6 +876,8 @@ CONFIG['h36m'] = {
|
||||
],
|
||||
'nJoints': 17}
|
||||
|
||||
CONFIG['h36m_17'] = CONFIG['h36m']
|
||||
|
||||
NJOINTS_BODY = 25
|
||||
NJOINTS_HAND = 21
|
||||
NJOINTS_FACE = 70
|
||||
@ -655,6 +885,19 @@ NLIMBS_BODY = len(CONFIG['body25']['kintree'])
|
||||
NLIMBS_HAND = len(CONFIG['hand']['kintree'])
|
||||
NLIMBS_FACE = len(CONFIG['face']['kintree'])
|
||||
|
||||
def compose(names):
|
||||
kintrees = []
|
||||
nJoints = 0
|
||||
for name in names:
|
||||
kintrees.append(np.array(CONFIG[name]['kintree']) + nJoints)
|
||||
nJoints += CONFIG[name]['nJoints']
|
||||
kintrees = np.vstack(kintrees)
|
||||
cfg = {
|
||||
'kintree': kintrees.tolist(),
|
||||
'nJoints': nJoints
|
||||
}
|
||||
return cfg
|
||||
|
||||
def getKintree(name='total'):
|
||||
if name == 'total':
|
||||
# order: body25, face, rhand, lhand
|
||||
@ -670,13 +913,99 @@ def getKintree(name='total'):
|
||||
kintree[NLIMBS_BODY:NLIMBS_BODY + NLIMBS_HAND] += NJOINTS_BODY
|
||||
kintree[NLIMBS_BODY + NLIMBS_HAND:NLIMBS_BODY + 2*NLIMBS_HAND] += NJOINTS_BODY + NJOINTS_HAND
|
||||
return kintree
|
||||
CONFIG['total'] = {}
|
||||
CONFIG['total']['kintree'] = getKintree('total')
|
||||
CONFIG['total']['nJoints'] = 137
|
||||
|
||||
CONFIG['total'] = compose(['body25', 'hand', 'hand', 'face'])
|
||||
COCO17_IN_BODY25 = [0,16,15,18,17,5,2,6,3,7,4,12,9,13,10,14,11]
|
||||
|
||||
CONFIG['bodyhandface']['joint_names'] = CONFIG['body25']['joint_names']
|
||||
# default to body25
|
||||
CONFIG['keypoints2d'] = CONFIG['body25']
|
||||
CONFIG['handl2d'] = CONFIG['hand']
|
||||
CONFIG['handr2d'] = CONFIG['hand']
|
||||
CONFIG['face2d'] = CONFIG['face']
|
||||
|
||||
# set mediapipe
|
||||
CONFIG['mpbody'] = {}
|
||||
CONFIG['mpbody']['kintree'] = [
|
||||
(0, 1),
|
||||
(0, 4),
|
||||
(1, 2),
|
||||
(2, 3),
|
||||
(3, 7),
|
||||
(4, 5),
|
||||
(5, 6),
|
||||
(6, 8),
|
||||
(9, 10),
|
||||
(11, 12),
|
||||
(11, 13),
|
||||
(11, 23),
|
||||
(12, 14),
|
||||
(12, 24),
|
||||
(13, 15),
|
||||
(14, 16),
|
||||
(15, 17),
|
||||
(15, 19),
|
||||
(15, 21),
|
||||
(16, 18),
|
||||
(16, 20),
|
||||
(16, 22),
|
||||
(17, 19),
|
||||
(18, 20),
|
||||
(23, 24),
|
||||
(23, 25),
|
||||
(24, 26),
|
||||
(25, 27),
|
||||
(26, 28),
|
||||
(27, 29),
|
||||
(27, 31),
|
||||
(28, 30),
|
||||
(28, 32),
|
||||
(29, 31),
|
||||
(30, 32)
|
||||
]
|
||||
CONFIG['mpbody']['nJoints'] = 33
|
||||
CONFIG['mpbody']['colors'] = ['b', 'r', 'b', 'b', 'b', 'r', 'r', 'r', 'k', 'k', 'b', 'b', 'r', 'r', 'b', 'r',
|
||||
'y', 'r', 'y', 'g', 'b', 'g', 'y', 'g', 'k', 'b', 'r', 'b', 'r', 'b', 'b', 'r', 'r', 'b', 'b']
|
||||
|
||||
CONFIG['mpface'] = {}
|
||||
CONFIG['mpface']['kintree'] = [(270, 409), (176, 149), (37, 0), (84, 17), (318, 324), (293, 334), (386, 385), (7, 163), (33, 246), (17, 314), (374, 380), (251, 389), (390, 373), (267, 269), (295, 285), (389, 356), (173, 133), (33, 7), (377, 152), (158, 157), (405, 321), (54, 103), (263, 466), (324, 308), (67, 109), (409, 291), (157, 173), (454, 323), (388, 387), (78, 191), (148, 176), (311, 310), (39, 37), (249, 390), (144, 145), (402, 318), (80, 81), (310, 415), (153, 154), (384, 398), (397, 365), (234, 127), (103, 67), (282, 295), (338, 297), (378, 400), (127, 162), (321, 375), (375, 291), (317, 402), (81, 82), (154, 155), (91, 181), (334, 296), (297, 332), (269, 270), (150, 136), (109, 10), (356, 454), (58, 132), (312, 311), (152, 148), (415, 308), (161, 160), (296, 336), (65, 55), (61, 146), (78, 95), (380, 381), (398, 362), (361, 288), (246, 161), (162, 21), (0, 267), (82, 13), (132, 93), (314, 405), (10, 338), (178, 87), (387, 386), (381, 382), (70, 63), (61, 185), (14, 317), (105, 66), (300, 293), (382, 362), (88, 178), (185, 40), (46, 53), (284, 251), (400, 377), (136, 172), (323, 361), (13, 312), (21, 54), (172, 58), (373, 374), (163, 144), (276, 283), (53, 52), (365, 379), (379, 378), (146, 91), (263, 249), (283, 282), (87, 14), (145, 153), (155, 133), (93, 234), (66, 107), (95, 88), (159, 158), (52, 65), (332, 284), (40, 39), (191, 80), (63, 105), (181, 84), (466, 388), (149, 150), (288, 397), (160, 159), (385, 384)]
|
||||
CONFIG['mpface']['nJoints'] = 468
|
||||
|
||||
CONFIG['mptotal'] = compose(['mpbody', 'hand', 'hand', 'mpface'])
|
||||
CONFIG['bodyhandmpface'] = compose(['body25', 'hand', 'hand', 'mpface'])
|
||||
|
||||
CONFIG['iris'] = {
|
||||
'nJoints': 10,
|
||||
'kintree': [[0, 1], [1, 2], [2, 3], [3, 4]]
|
||||
}
|
||||
|
||||
CONFIG['onepoint'] = {
|
||||
'nJoints': 1,
|
||||
'kintree': []
|
||||
}
|
||||
|
||||
CONFIG['up'] = {
|
||||
'nJoints': 79,
|
||||
'kintree': []
|
||||
}
|
||||
|
||||
CONFIG['ochuman'] = {
|
||||
'nJoints': 19,
|
||||
'kintree': [[0, 1], [1, 2], [3, 4], [4, 5], [6, 7], [7, 8], [9, 10], [10, 11], [12, 13], [14, 17], [15, 18], [17, 16], [18, 16]]
|
||||
}
|
||||
|
||||
CONFIG['mpii'] = {
|
||||
'nJoints': 16,
|
||||
'kintree': [[0, 1], [1, 2], [3, 4], [4, 5], [2, 6], [3, 6], [6, 7], [7, 8], [8, 9], [10, 11], [11, 12], [7, 12], [7, 13], \
|
||||
[13, 14], [14, 15]],
|
||||
'joint_names': ['rank', 'rkne', 'rhip', 'lhip', 'lkne', 'lank', 'pelv', 'thrx', 'neck', 'head', 'rwri', 'relb', 'rsho', 'lsho', 'lelb', 'lwri'],
|
||||
}
|
||||
|
||||
CONFIG['h36mltri_17'] = {
|
||||
'kintree': [(0, 1), (1, 2), (2, 6), (5, 4), (4, 3), (3, 6), (6, 7), (7, 8), (8, 16), (9, 16), (8, 12), (11, 12), (10, 11), (8, 13), (13, 14), (14, 15)],
|
||||
'color': ['r', 'r', 'r', 'g', 'g', 'g', 'k', 'k', 'k', 'k', 'g', 'g', 'g', 'r', 'r', 'r'],
|
||||
'joint_names': CONFIG['mpii']['joint_names'] + ['Neck/Nose'],
|
||||
'nJoints': 17}
|
||||
|
||||
def coco17tobody25(points2d):
|
||||
dim = 3
|
||||
@ -698,4 +1027,6 @@ for skeltype, config in CONFIG.items():
|
||||
if 'joint_names' in config.keys():
|
||||
torsoid = [config['joint_names'].index(name) if name in config['joint_names'] else None for name in ['LShoulder', 'RShoulder', 'LHip', 'RHip']]
|
||||
torsoid = [i for i in torsoid if i is not None]
|
||||
config['torso'] = torsoid
|
||||
config['torso'] = torsoid
|
||||
if 'colors' not in config.keys():
|
||||
config['colors'] = ['b' for _ in range(len(config['kintree']))]
|
||||
Loading…
Reference in New Issue
Block a user