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Upload fist_pose.py
Browse files- src/fist_pose.py +444 -0
src/fist_pose.py
ADDED
@@ -0,0 +1,444 @@
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1 |
+
left_fist = [
|
2 |
+
0.0, 0.0, 0.0,
|
3 |
+
0.0, 0.0, 0.0,
|
4 |
+
0.0, 0.0, 0.0,
|
5 |
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0.0, 0.0, 0.0,
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6 |
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0.0, 0.0, 0.0,
|
7 |
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0.0, 0.0, 0.0,
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8 |
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0.0, 0.0, 0.0,
|
9 |
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0.0, 0.0, 0.0,
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10 |
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0.0, 0.0, 0.0,
|
11 |
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0.0, 0.0, 0.0,
|
12 |
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0.0, 0.0, 0.0,
|
13 |
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0.0, 0.0, 0.0,
|
14 |
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0.0, 0.0, 0.0,
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15 |
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0.0, 0.0, 0.0,
|
16 |
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0.0, 0.0, 0.0,
|
17 |
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0.0, 0.0, 0.0,
|
18 |
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0.0, 0.0, 0.0,
|
19 |
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0.0, 0.0, 0.0,
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20 |
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0.0, 0.0, 0.0,
|
21 |
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0.0, 0.0, 0.0,
|
22 |
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0.0, 0.0, 0.0,
|
23 |
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0.0, 0.0, 0.0,
|
24 |
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0.0, 0.0, 0.0,
|
25 |
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0.0, 0.0, 0.0,
|
26 |
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0.0, 0.0, 0.0,
|
27 |
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0.4183167815208435, 0.10645648092031479, -1.6593892574310303,
|
28 |
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0.15252035856246948, -0.14700782299041748, -1.3719955682754517,
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33 |
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0.850964367389679, 0.2769227623939514, -0.09154807031154633,
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0.14500413835048676, 0.09604815393686295, 0.219278022646904,
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1.0451993942260742, 0.16911321878433228, -0.2426234930753708,
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0.11167845129966736, -0.04289207234978676, 0.41644084453582764,
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0.10881128907203674, 0.06598565727472305, 0.756219744682312,
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|
50 |
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|
51 |
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|
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|
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|
54 |
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0.850964367389679, -0.2769227623939514, 0.09154807031154633,
|
55 |
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|
56 |
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0.5355585217475891, -0.045960985124111176, 0.27735769748687744,
|
57 |
+
]
|
58 |
+
|
59 |
+
left_right_fist = [
|
60 |
+
0.0, 0.0, 0.0,
|
61 |
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0.0, 0.0, 0.0,
|
62 |
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0.0, 0.0, 0.0,
|
63 |
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0.0, 0.0, 0.0,
|
64 |
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0.0, 0.0, 0.0,
|
65 |
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0.0, 0.0, 0.0,
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66 |
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0.0, 0.0, 0.0,
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0.0, 0.0, 0.0,
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68 |
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0.0, 0.0, 0.0,
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70 |
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71 |
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0.0, 0.0, 0.0,
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72 |
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0.0, 0.0, 0.0,
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76 |
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77 |
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79 |
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0.0, 0.0, 0.0,
|
80 |
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0.0, 0.0, 0.0,
|
81 |
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0.0, 0.0, -0.0,
|
82 |
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0.0, 0.0, 0.0,
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83 |
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0.0, 0.0, 0.0,
|
84 |
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0.0, 0.0, 0.0,
|
85 |
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0.4183167815208435, 0.10645648092031479, -1.6593892574310303,
|
86 |
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0.15252035856246948, -0.14700782299041748, -1.3719955682754517,
|
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88 |
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|
89 |
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90 |
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91 |
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|
92 |
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|
93 |
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|
94 |
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97 |
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0.850964367389679, 0.2769227623939514, -0.09154807031154633,
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0.14500413835048676, 0.09604815393686295, 0.219278022646904,
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1.0451993942260742, 0.16911321878433228, -0.2426234930753708,
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100 |
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0.4183167815208435, -0.10645647346973419, 1.6593892574310303,
|
101 |
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0.15252038836479187, 0.14700786769390106, 1.3719956874847412,
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106 |
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-0.9881719350814819, 0.3987707495689392, 1.3535723686218262,
|
107 |
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108 |
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|
109 |
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|
110 |
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-0.46278542280197144, -0.13677802681922913, 1.467200517654419,
|
111 |
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-0.36818885803222656, -0.0034044249914586544, 0.7764251232147217,
|
112 |
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0.8509642481803894, -0.2769228219985962, 0.09154807776212692,
|
113 |
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0.14500458538532257, -0.09604845196008682, -0.21927869319915771,
|
114 |
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1.0451991558074951, -0.1691131889820099, 0.242623433470726,
|
115 |
+
]
|
116 |
+
|
117 |
+
right_fist = []
|
118 |
+
for lf, lrf in zip(left_fist, left_right_fist):
|
119 |
+
if lf != lrf:
|
120 |
+
right_fist.append(lrf)
|
121 |
+
else:
|
122 |
+
right_fist.append(0)
|
123 |
+
|
124 |
+
|
125 |
+
left_flat_up = [
|
126 |
+
0.0, 0.0, 0.0,
|
127 |
+
0.0, 0.0, 0.0,
|
128 |
+
0.0, 0.0, 0.0,
|
129 |
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0.0, 0.0, 0.0,
|
130 |
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0.0, 0.0, 0.0,
|
131 |
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0.0, 0.0, 0.0,
|
132 |
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0.0, 0.0, 0.0,
|
133 |
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0.0, 0.0, 0.0,
|
134 |
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0.0, 0.0, 0.0,
|
135 |
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0.0, 0.0, 0.0,
|
136 |
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0.0, 0.0, 0.0,
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137 |
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0.0, 0.0, 0.0,
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138 |
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139 |
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140 |
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141 |
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142 |
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143 |
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144 |
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0.0, 0.0, 0.0,
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145 |
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0.0, 0.0, 0.0,
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146 |
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0.0, 0, 1.5129635334014893,
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147 |
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149 |
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152 |
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154 |
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156 |
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157 |
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159 |
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170 |
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171 |
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175 |
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176 |
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177 |
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|
178 |
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|
179 |
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0.0, 0.0, 0.0,
|
180 |
+
0.0, 0.0, 0.0,
|
181 |
+
]
|
182 |
+
|
183 |
+
left_flat_down = [
|
184 |
+
0.0, 0.0, 0.0,
|
185 |
+
0.0, 0.0, 0.0,
|
186 |
+
0.0, 0.0, 0.0,
|
187 |
+
0.0, 0.0, 0.0,
|
188 |
+
0.0, 0.0, 0.0,
|
189 |
+
0.0, 0.0, 0.0,
|
190 |
+
0.0, 0.0, 0.0,
|
191 |
+
0.0, 0.0, 0.0,
|
192 |
+
0.0, 0.0, 0.0,
|
193 |
+
0.0, 0.0, 0.0,
|
194 |
+
0.0, 0.0, 0.0,
|
195 |
+
0.0, 0.0, 0.0,
|
196 |
+
0.0, 0.0, 0.0,
|
197 |
+
0.0, 0.0, 0.0,
|
198 |
+
0.0, 0.0, 0.0,
|
199 |
+
0.0, 0.0, 0.0,
|
200 |
+
0.0, 0.0, 0.0,
|
201 |
+
0.0, 0.0, 0.0,
|
202 |
+
0.0, 0.0, 0.0,
|
203 |
+
0.0, 0.0, 0.0,
|
204 |
+
0.0, 0, -1.4648663997650146,
|
205 |
+
0.0, 0.0, 0.0,
|
206 |
+
0.0, 0.0, 0.0,
|
207 |
+
0.0, 0.0, 0.0,
|
208 |
+
0.0, 0.0, 0.0,
|
209 |
+
0.0, 0.0, 0.0,
|
210 |
+
0.0, 0.0, 0.0,
|
211 |
+
0.0, 0.0, 0.0,
|
212 |
+
0.0, 0.0, 0.0,
|
213 |
+
0.0, 0.0, 0.0,
|
214 |
+
0.0, 0.0, 0.0,
|
215 |
+
0.0, 0.0, 0.0,
|
216 |
+
0.0, 0.0, 0.0,
|
217 |
+
0.0, 0.0, 0.0,
|
218 |
+
0.0, 0.0, 0.0,
|
219 |
+
0.0, 0.0, 0.0,
|
220 |
+
0.0, 0.0, 0.0,
|
221 |
+
0.0, 0.0, 0.0,
|
222 |
+
0.0, 0.0, 0.0,
|
223 |
+
0.0, 0.0, 0.0,
|
224 |
+
0.0, 0.0, 0.0,
|
225 |
+
0.0, 0.0, 0.0,
|
226 |
+
0.0, 0.0, 0.0,
|
227 |
+
0.0, 0.0, 0.0,
|
228 |
+
0.0, 0.0, 0.0,
|
229 |
+
0.0, 0.0, 0.0,
|
230 |
+
0.0, 0.0, 0.0,
|
231 |
+
0.0, 0.0, 0.0,
|
232 |
+
0.0, 0.0, 0.0,
|
233 |
+
0.0, 0.0, 0.0,
|
234 |
+
0.0, 0.0, 0.0,
|
235 |
+
0.0, 0.0, 0.0,
|
236 |
+
0.0, 0.0, 0.0,
|
237 |
+
0.0, 0.0, 0.0,
|
238 |
+
0.0, 0.0, 0.0,
|
239 |
+
]
|
240 |
+
|
241 |
+
right_flat_up = [
|
242 |
+
0.0, 0.0, 0.0,
|
243 |
+
0.0, 0.0, 0.0,
|
244 |
+
0.0, 0.0, 0.0,
|
245 |
+
0.0, 0.0, 0.0,
|
246 |
+
0.0, 0.0, 0.0,
|
247 |
+
0.0, 0.0, 0.0,
|
248 |
+
0.0, 0.0, 0.0,
|
249 |
+
0.0, 0.0, 0.0,
|
250 |
+
0.0, 0.0, 0.0,
|
251 |
+
0.0, 0.0, 0.0,
|
252 |
+
0.0, 0.0, 0.0,
|
253 |
+
0.0, 0.0, 0.0,
|
254 |
+
0.0, 0.0, 0.0,
|
255 |
+
0.0, 0.0, 0.0,
|
256 |
+
0.0, 0.0, 0.0,
|
257 |
+
0.0, 0.0, 0.0,
|
258 |
+
0.0, 0.0, 0.0,
|
259 |
+
0.0, 0.0, 0.0,
|
260 |
+
0.0, 0.0, 0.0,
|
261 |
+
0.0, 0.0, 0.0,
|
262 |
+
0.0, 0.0, 0.0,
|
263 |
+
0.0, 0, -1.5021973848342896,
|
264 |
+
0.0, 0.0, 0.0,
|
265 |
+
0.0, 0.0, 0.0,
|
266 |
+
0.0, 0.0, 0.0,
|
267 |
+
0.0, 0.0, 0.0,
|
268 |
+
0.0, 0.0, 0.0,
|
269 |
+
0.0, 0.0, 0.0,
|
270 |
+
0.0, 0.0, 0.0,
|
271 |
+
0.0, 0.0, 0.0,
|
272 |
+
0.0, 0.0, 0.0,
|
273 |
+
0.0, 0.0, 0.0,
|
274 |
+
0.0, 0.0, 0.0,
|
275 |
+
0.0, 0.0, 0.0,
|
276 |
+
0.0, 0.0, 0.0,
|
277 |
+
0.0, 0.0, 0.0,
|
278 |
+
0.0, 0.0, 0.0,
|
279 |
+
0.0, 0.0, 0.0,
|
280 |
+
0.0, 0.0, 0.0,
|
281 |
+
0.0, 0.0, 0.0,
|
282 |
+
0.0, 0.0, 0.0,
|
283 |
+
0.0, 0.0, 0.0,
|
284 |
+
0.0, 0.0, 0.0,
|
285 |
+
0.0, 0.0, 0.0,
|
286 |
+
0.0, 0.0, 0.0,
|
287 |
+
0.0, 0.0, 0.0,
|
288 |
+
0.0, 0.0, 0.0,
|
289 |
+
0.0, 0.0, 0.0,
|
290 |
+
0.0, 0.0, 0.0,
|
291 |
+
0.0, 0.0, 0.0,
|
292 |
+
0.0, 0.0, 0.0,
|
293 |
+
0.0, 0.0, 0.0,
|
294 |
+
0.0, 0.0, 0.0,
|
295 |
+
0.0, 0.0, 0.0,
|
296 |
+
0.0, 0.0, 0.0,
|
297 |
+
]
|
298 |
+
|
299 |
+
right_flat_down = [
|
300 |
+
0.0, 0.0, 0.0,
|
301 |
+
0.0, 0.0, 0.0,
|
302 |
+
0.0, 0.0, 0.0,
|
303 |
+
0.0, 0.0, 0.0,
|
304 |
+
0.0, 0.0, 0.0,
|
305 |
+
0.0, 0.0, 0.0,
|
306 |
+
0.0, 0.0, 0.0,
|
307 |
+
0.0, 0.0, 0.0,
|
308 |
+
0.0, 0.0, 0.0,
|
309 |
+
0.0, 0.0, 0.0,
|
310 |
+
0.0, 0.0, 0.0,
|
311 |
+
0.0, 0.0, 0.0,
|
312 |
+
0.0, 0.0, 0.0,
|
313 |
+
0.0, 0.0, 0.0,
|
314 |
+
0.0, 0.0, 0.0,
|
315 |
+
0.0, 0.0, 0.0,
|
316 |
+
0.0, 0.0, 0.0,
|
317 |
+
0.0, 0.0, 0.0,
|
318 |
+
0.0, 0.0, 0.0,
|
319 |
+
0.0, 0.0, 0.0,
|
320 |
+
0.0, 0.0, 0.0,
|
321 |
+
0, 0, 1.494218111038208,
|
322 |
+
0.0, 0.0, 0.0,
|
323 |
+
0.0, 0.0, 0.0,
|
324 |
+
0.0, 0.0, 0.0,
|
325 |
+
0.0, 0.0, 0.0,
|
326 |
+
0.0, 0.0, 0.0,
|
327 |
+
0.0, 0.0, 0.0,
|
328 |
+
0.0, 0.0, 0.0,
|
329 |
+
0.0, 0.0, 0.0,
|
330 |
+
0.0, 0.0, 0.0,
|
331 |
+
0.0, 0.0, 0.0,
|
332 |
+
0.0, 0.0, 0.0,
|
333 |
+
0.0, 0.0, 0.0,
|
334 |
+
0.0, 0.0, 0.0,
|
335 |
+
0.0, 0.0, 0.0,
|
336 |
+
0.0, 0.0, 0.0,
|
337 |
+
0.0, 0.0, 0.0,
|
338 |
+
0.0, 0.0, 0.0,
|
339 |
+
0.0, 0.0, 0.0,
|
340 |
+
0.0, 0.0, 0.0,
|
341 |
+
0.0, 0.0, 0.0,
|
342 |
+
0.0, 0.0, 0.0,
|
343 |
+
0.0, 0.0, 0.0,
|
344 |
+
0.0, 0.0, 0.0,
|
345 |
+
0.0, 0.0, 0.0,
|
346 |
+
0.0, 0.0, 0.0,
|
347 |
+
0.0, 0.0, 0.0,
|
348 |
+
0.0, 0.0, 0.0,
|
349 |
+
0.0, 0.0, 0.0,
|
350 |
+
0.0, 0.0, 0.0,
|
351 |
+
0.0, 0.0, 0.0,
|
352 |
+
0.0, 0.0, 0.0,
|
353 |
+
0.0, 0.0, 0.0,
|
354 |
+
0.0, 0.0, 0.0,
|
355 |
+
]
|
356 |
+
|
357 |
+
relaxed = [
|
358 |
+
0.0, 0.0, 0.0,
|
359 |
+
0.0, 0.0, 0.0,
|
360 |
+
0.0, 0.0, 0.0,
|
361 |
+
0.0, 0.0, 0.0,
|
362 |
+
0.0, 0.0, 0.0,
|
363 |
+
0.0, 0.0, 0.0,
|
364 |
+
0.0, 0.0, 0.0,
|
365 |
+
0.0, 0.0, 0.0,
|
366 |
+
0.0, 0.0, 0.0,
|
367 |
+
0.0, 0.0, 0.0,
|
368 |
+
0.0, 0.0, 0.0,
|
369 |
+
0.0, 0.0, 0.0,
|
370 |
+
0.0, 0.0, 0.0,
|
371 |
+
0.0, 0.0, 0.0,
|
372 |
+
0.0, 0.0, 0.0,
|
373 |
+
0.0, 0.0, 0.0,
|
374 |
+
0.0, 0.0, 0.0,
|
375 |
+
0.0, 0.0, 0.0,
|
376 |
+
0.0, 0.0, 0.0,
|
377 |
+
0.0, 0.0, 0.0,
|
378 |
+
0.0, 0.0, 0.0,
|
379 |
+
0.0, 0.0, 0.0,
|
380 |
+
0.0, 0.0, 0.0,
|
381 |
+
0.0, 0.0, 0.0,
|
382 |
+
0.0, 0.0, 0.0,
|
383 |
+
0.11167845129966736, 0.04289207234978676, -0.41644084453582764,
|
384 |
+
0.10881128907203674, -0.06598565727472305, -0.756219744682312,
|
385 |
+
-0.0963931530714035, -0.09091583639383316, -0.18845966458320618,
|
386 |
+
-0.11809506267309189, 0.050943851470947266, -0.5295845866203308,
|
387 |
+
-0.14369848370552063, 0.055241718888282776, -0.704857349395752,
|
388 |
+
-0.019182899966835976, -0.0923367589712143, -0.3379131853580475,
|
389 |
+
-0.45703303813934326, -0.1962839663028717, -0.6254575848579407,
|
390 |
+
-0.21465237438678741, -0.06599827855825424, -0.5068942308425903,
|
391 |
+
-0.36972442269325256, -0.0603446289896965, -0.07949023693799973,
|
392 |
+
-0.14186954498291016, -0.08585254102945328, -0.6355276107788086,
|
393 |
+
-0.3033415675163269, -0.05788097903132439, -0.6313892006874084,
|
394 |
+
-0.17612087726593018, -0.13209305703639984, -0.3733545243740082,
|
395 |
+
0.850964367389679, 0.2769227623939514, -0.09154807031154633,
|
396 |
+
-0.4998386800289154, 0.026556432247161865, 0.052880801260471344,
|
397 |
+
0.5355585217475891, 0.045960985124111176, -0.27735769748687744,
|
398 |
+
0.11167845129966736, -0.04289207234978676, 0.41644084453582764,
|
399 |
+
0.10881128907203674, 0.06598565727472305, 0.756219744682312,
|
400 |
+
-0.0963931530714035, 0.09091583639383316, 0.18845966458320618,
|
401 |
+
-0.11809506267309189, -0.050943851470947266, 0.5295845866203308,
|
402 |
+
-0.14369848370552063, -0.055241718888282776, 0.704857349395752,
|
403 |
+
-0.019182899966835976, 0.0923367589712143, 0.3379131853580475,
|
404 |
+
-0.45703303813934326, 0.1962839663028717, 0.6254575848579407,
|
405 |
+
-0.21465237438678741, 0.06599827855825424, 0.5068942308425903,
|
406 |
+
-0.36972442269325256, 0.0603446289896965, 0.07949023693799973,
|
407 |
+
-0.14186954498291016, 0.08585254102945328, 0.6355276107788086,
|
408 |
+
-0.3033415675163269, 0.05788097903132439, 0.6313892006874084,
|
409 |
+
-0.17612087726593018, 0.13209305703639984, 0.3733545243740082,
|
410 |
+
0.850964367389679, -0.2769227623939514, 0.09154807031154633,
|
411 |
+
-0.4998386800289154, -0.026556432247161865, -0.052880801260471344,
|
412 |
+
0.5355585217475891, -0.045960985124111176, 0.27735769748687744,
|
413 |
+
]
|
414 |
+
|
415 |
+
# body joints + left arm + right arm
|
416 |
+
# 25 + 15 + 15
|
417 |
+
# smpl(left_hand_pose, right_hand_pose)
|
418 |
+
|
419 |
+
left_start = 25 * 3
|
420 |
+
left_end = left_start + 15 * 3
|
421 |
+
right_end = left_end + 15 * 3
|
422 |
+
|
423 |
+
LEFT_FIST = left_fist[left_start:left_end]
|
424 |
+
RIGHT_FIST = right_fist[left_end:right_end]
|
425 |
+
|
426 |
+
LEFT_FLAT_UP = left_flat_up[20 * 3 : 20 * 3 + 3]
|
427 |
+
LEFT_FLAT_DOWN = left_flat_down[20 * 3 : 20 * 3 + 3]
|
428 |
+
|
429 |
+
RIGHT_FLAT_UP = right_flat_up[21 * 3 : 21 * 3 + 3]
|
430 |
+
RIGHT_FLAT_DOWN = right_flat_down[21 * 3 : 21 * 3 + 3]
|
431 |
+
|
432 |
+
LEFT_RELAXED = relaxed[left_start:left_end]
|
433 |
+
RIGHT_RELAXED = relaxed[left_end:right_end]
|
434 |
+
|
435 |
+
INT_TO_FIST = {
|
436 |
+
"lfl": None,
|
437 |
+
"lf": LEFT_FIST,
|
438 |
+
"lu": LEFT_FLAT_UP,
|
439 |
+
"ld": LEFT_FLAT_DOWN,
|
440 |
+
"rfl": None,
|
441 |
+
"rf": RIGHT_FIST,
|
442 |
+
"ru": RIGHT_FLAT_UP,
|
443 |
+
"rd": RIGHT_FLAT_DOWN,
|
444 |
+
}
|