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eth-ait · Sep 23, 2024 · 5fd7d69 · 5fd7d69
1 parent 8014e7d
commit 5fd7d69
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Showing 3 changed files with 15 additions and 16 deletions.
diff --git a/aitviewer/models/smpl.py b/aitviewer/models/smpl.py
@@ -266,7 +266,6 @@ def fk_mano(
         if trans is None:
             trans = torch.zeros([batch_size, 3]).to(dtype=hand_pose.dtype, device=device)
 
-
         # Batch shapes if they don't match batch dimension.
         if len(betas.shape) == 1 or betas.shape[0] == 1:
             betas = betas.repeat(hand_pose.shape[0], 1)
@@ -281,23 +280,21 @@ def fk_mano(
             trans = torch.matmul(first_root_ori.unsqueeze(0), trans.unsqueeze(-1)).squeeze()
             trans = trans - trans[0:1]
 
-
         output = self.bm(
             hand_pose=hand_pose,
             betas=betas,
             global_orient=global_orient,
             transl=trans,
         )
 
-
         return output.vertices, output.joints
 
     def forward(self, *args, **kwargs):
         """
         Forward pass using forward kinematics
         """
 
-        if 'mano' in kwargs.keys():
+        if "mano" in kwargs.keys():
             return self.fk_mano(*args, **kwargs)
         else:
-            return self.fk(*args, **kwargs)
+            return self.fk(*args, **kwargs)
diff --git a/aitviewer/renderables/meshes.py b/aitviewer/renderables/meshes.py
@@ -51,7 +51,7 @@ def __init__(
         draw_edges=False,
         draw_outline=False,
         instance_transforms=None,
-        z_up = False,
+        z_up=False,
         icon="\u008d",
         **kwargs,
     ):

diff --git a/aitviewer/renderables/smpl.py b/aitviewer/renderables/smpl.py
@@ -145,7 +145,6 @@ def __init__(
         # Nodes
         self.vertices, self.joints, self.faces, self.skeleton = self.fk()
 
-
         if self._is_rigged:
             self.skeleton_seq = Skeletons(
                 self.joints,
@@ -177,7 +176,6 @@ def __init__(
         if self._z_up and not C.z_up:
             self.rotation = np.matmul(np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]]), self.rotation)
 
-
         if self.smpl_layer.model_type != "mano":
             self.rbs = RigidBodies(self.joints, global_oris, length=0.1, gui_affine=False, name="Joint Angles")
             self._add_node(self.rbs, enabled=self._show_joint_angles)
@@ -406,15 +404,15 @@ def fk(self, current_frame_only=False):
             poses_right_hand = self.poses_right_hand
             trans = self.trans
             betas = self.betas
-        
+
         if self.smpl_layer.model_type == "mano":
             verts, joints = self.smpl_layer(
-            hand_pose=poses_body,
-            betas=betas,
-            global_orient=poses_root,
-            trans=trans,
-            mano=True,
-        )
+                hand_pose=poses_body,
+                betas=betas,
+                global_orient=poses_root,
+                trans=trans,
+                mano=True,
+            )
         else:
             verts, joints = self.smpl_layer(
                 poses_root=poses_root,
@@ -429,7 +427,11 @@ def fk(self, current_frame_only=False):
         if self.post_fk_func:
             verts, joints = self.post_fk_func(self, verts, joints, current_frame_only)
 
-        skeleton = self.smpl_layer.skeletons()["body"].T if not self.smpl_layer.model_type == "mano" else self.smpl_layer.skeletons()["all"].T 
+        skeleton = (
+            self.smpl_layer.skeletons()["body"].T
+            if not self.smpl_layer.model_type == "mano"
+            else self.smpl_layer.skeletons()["all"].T
+        )
         faces = self.smpl_layer.bm.faces.astype(np.int64)
         joints = joints[:, : skeleton.shape[0]]