:py:mod:`rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d` ================================================================== .. py:module:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d :allowtitles: Module Contents --------------- Classes ~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`SkeletonTree ` - .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree :summary: * - :py:obj:`SkeletonState ` - .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState :summary: * - :py:obj:`SkeletonMotion ` - API ~~~ .. py:class:: SkeletonTree(node_names, parent_indices, local_translation, local_orientation=None) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree Bases: :py:obj:`rofunc.utils.datalab.poselib.poselib.core.Serializable` .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree .. rubric:: Initialization .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.__init__ .. py:property:: node_names :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.node_names .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.node_names .. py:property:: parent_indices :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.parent_indices .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.parent_indices .. py:property:: local_translation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.local_translation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.local_translation .. py:property:: local_orientation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.local_orientation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.local_orientation .. py:property:: num_joints :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.num_joints .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.num_joints .. py:method:: from_dict(dict_repr, *args, **kwargs) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.from_dict :classmethod: .. py:method:: to_dict() :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.to_dict .. py:method:: from_mjcf(path: str) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.from_mjcf :classmethod: .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.from_mjcf .. py:method:: parent_of(node_name) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.parent_of .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.parent_of .. py:method:: index(node_name) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.index .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.index .. py:method:: drop_nodes_by_names(node_names: rofunc.utils.datalab.poselib.poselib.core.List[str], pairwise_translation=None) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.drop_nodes_by_names .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.drop_nodes_by_names .. py:method:: keep_nodes_by_names(node_names: rofunc.utils.datalab.poselib.poselib.core.List[str], pairwise_translation=None) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.keep_nodes_by_names .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree.keep_nodes_by_names .. py:class:: SkeletonState(tensor_backend, skeleton_tree, is_local) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState Bases: :py:obj:`rofunc.utils.datalab.poselib.poselib.core.Serializable` .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState .. rubric:: Initialization .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.__init__ .. py:property:: rotation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.rotation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.rotation .. py:property:: object_poses :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.object_poses .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.object_poses .. py:method:: set_object_poses(object_poses) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.set_object_poses .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.set_object_poses .. py:property:: is_local :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.is_local .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.is_local .. py:property:: invariant_property :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.invariant_property .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.invariant_property .. py:property:: num_joints :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.num_joints .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.num_joints .. py:property:: skeleton_tree :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.skeleton_tree .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.skeleton_tree .. py:property:: root_translation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.root_translation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.root_translation .. py:property:: global_transformation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_transformation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_transformation .. py:property:: global_rotation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_rotation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_rotation .. py:property:: global_translation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_translation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_translation .. py:property:: global_translation_xy :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_translation_xy .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_translation_xy .. py:property:: global_translation_xz :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_translation_xz .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_translation_xz .. py:property:: local_rotation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_rotation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_rotation .. py:property:: local_transformation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_transformation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_transformation .. py:property:: local_translation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_translation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_translation .. py:property:: root_translation_xy :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.root_translation_xy .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.root_translation_xy .. py:property:: global_root_rotation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_root_rotation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_root_rotation .. py:property:: global_root_yaw_rotation :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_root_yaw_rotation .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_root_yaw_rotation .. py:property:: local_translation_to_root :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_translation_to_root .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_translation_to_root .. py:property:: local_rotation_to_root :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_rotation_to_root .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_rotation_to_root .. py:method:: compute_forward_vector(left_shoulder_index, right_shoulder_index, left_hip_index, right_hip_index, gaussian_filter_width=20) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.compute_forward_vector .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.compute_forward_vector .. py:method:: from_dict(dict_repr: rofunc.utils.datalab.poselib.poselib.core.OrderedDict, *args, **kwargs) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.from_dict :classmethod: .. py:method:: to_dict() -> rofunc.utils.datalab.poselib.poselib.core.OrderedDict :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.to_dict .. py:method:: from_rotation_and_root_translation(skeleton_tree, r, t, is_local=True) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.from_rotation_and_root_translation :classmethod: .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.from_rotation_and_root_translation .. py:method:: zero_pose(skeleton_tree) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.zero_pose :classmethod: .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.zero_pose .. py:method:: zero_pose_wo_qbhand(skeleton_tree) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.zero_pose_wo_qbhand :classmethod: .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.zero_pose_wo_qbhand .. py:method:: local_repr() :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_repr .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.local_repr .. py:method:: global_repr() :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_repr .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.global_repr .. py:method:: drop_nodes_by_names(node_names: rofunc.utils.datalab.poselib.poselib.core.List[str], estimate_local_translation_from_states: bool = True) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.drop_nodes_by_names .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.drop_nodes_by_names .. py:method:: keep_nodes_by_names(node_names: rofunc.utils.datalab.poselib.poselib.core.List[str], estimate_local_translation_from_states: bool = True) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.keep_nodes_by_names .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.keep_nodes_by_names .. py:method:: retarget_to(joint_mapping: typing.Dict[str, str], source_tpose_local_rotation, source_tpose_root_translation: numpy.ndarray, target_skeleton_tree: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree, target_tpose_local_rotation, target_tpose_root_translation: numpy.ndarray, rotation_to_target_skeleton, scale_to_target_skeleton: float, z_up: bool = True) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.retarget_to .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.retarget_to .. py:method:: retarget_to_by_tpose(joint_mapping: typing.Dict[str, str], source_tpose: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState, target_tpose: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState, rotation_to_target_skeleton, scale_to_target_skeleton: float) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.retarget_to_by_tpose .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState.retarget_to_by_tpose .. py:class:: SkeletonMotion(tensor_backend, skeleton_tree, is_local, fps, object_poses=None, *args, **kwargs) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion Bases: :py:obj:`rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState` .. py:method:: clone() :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.clone .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.clone .. py:property:: invariant_property :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.invariant_property .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.invariant_property .. py:property:: global_velocity :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.global_velocity .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.global_velocity .. py:property:: global_angular_velocity :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.global_angular_velocity .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.global_angular_velocity .. py:property:: fps :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.fps .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.fps .. py:property:: time_delta :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.time_delta .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.time_delta .. py:property:: global_root_velocity :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.global_root_velocity .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.global_root_velocity .. py:property:: global_root_angular_velocity :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.global_root_angular_velocity .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.global_root_angular_velocity .. py:property:: object_poses :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.object_poses .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.object_poses .. py:method:: from_state_vector_and_velocity(skeleton_tree, state_vector, global_velocity, global_angular_velocity, is_local, fps) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.from_state_vector_and_velocity :classmethod: .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.from_state_vector_and_velocity .. py:method:: from_skeleton_state(skeleton_state: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState, fps: int) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.from_skeleton_state :classmethod: .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.from_skeleton_state .. py:method:: from_dict(dict_repr: rofunc.utils.datalab.poselib.poselib.core.OrderedDict, *args, **kwargs) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.from_dict :classmethod: .. py:method:: to_dict() -> rofunc.utils.datalab.poselib.poselib.core.OrderedDict :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.to_dict .. py:method:: from_fbx(fbx_file_path, skeleton_tree=None, is_local=True, fps=120, root_joint='', root_trans_index=0, *args, **kwargs) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.from_fbx :classmethod: .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.from_fbx .. py:method:: crop(start: int, end: int, fps: rofunc.utils.datalab.poselib.poselib.core.Optional[int] = None) :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.crop .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.crop .. py:method:: retarget_to(joint_mapping: typing.Dict[str, str], source_tpose_local_rotation, source_tpose_root_translation: numpy.ndarray, target_skeleton_tree: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonTree, target_tpose_local_rotation, target_tpose_root_translation: numpy.ndarray, rotation_to_target_skeleton, scale_to_target_skeleton: float, z_up: bool = True) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.retarget_to .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.retarget_to .. py:method:: retarget_to_by_tpose(joint_mapping: typing.Dict[str, str], source_tpose: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState, target_tpose: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonState, rotation_to_target_skeleton, scale_to_target_skeleton: float, z_up: bool = True) -> rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion :canonical: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.retarget_to_by_tpose .. autodoc2-docstring:: rofunc.utils.datalab.poselib.poselib.skeleton.skeleton3d.SkeletonMotion.retarget_to_by_tpose