Source code for rofunc.utils.datalab.poselib.generate_optitrack_fbx_tpose

# Copyright 2023, Junjia LIU, jjliu@mae.cuhk.edu.hk
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import os

import isaacgym
import torch

import rofunc as rf
from rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d import SkeletonState, SkeletonMotion
from rofunc.utils.datalab.poselib.poselib.visualization.common import plot_skeleton_state


def get_tpose_from_fbx(fbx_file_path, save_path, verbose=True):
    motion = SkeletonMotion.from_fbx(
        fbx_file_path=fbx_file_path,
        root_joint="Skeleton_Root",
        fps=120
    )

    zero_rotation = torch.zeros_like(motion.rotation[0])
    zero_rotation[:, -1] = 1
    source_tpose = SkeletonState.from_rotation_and_root_translation(motion.skeleton_tree, zero_rotation,
                                                                    motion.root_translation[0], is_local=True)

    source_tpose.to_file(save_path)

    if verbose:
        plot_skeleton_state(source_tpose, verbose=True)


if __name__ == '__main__':
    rofunc_path = rf.oslab.get_rofunc_path()
    data_dir = "/home/ubuntu/Github/Rofunc/rofunc/utils/datalab/poselib/data"
    # fbx_files = rf.oslab.list_absl_path(data_dir, suffix='.fbx')
    fbx_files = ["/home/ubuntu/Github/Rofunc/examples/data/hotu2/Take 2024-01-12 06.56.43 PM_FBXBinary.fbx"]
    for fbx in fbx_files:
    # fbx_name = os.path.basename(fbx).split('.')[0]
        save_path = os.path.join(data_dir, "source_optitrack_w_gloves_tpose.npy")
        get_tpose_from_fbx(fbx, save_path, verbose=True)