Implementation of Retargeter

[zoechann]

I noticed during deployment that the retargeter uses GMR. Is it possible to use the soma-retargeter that comes with SEED instead? Is it difficult to align SOMA's human joints with the data captured by the PICO4?

[BotRunner64]

@zoechann soma-retargeter seems to be designed for offline batch retargeting, and I haven't tested whether it can run in real-time. Once the 3D human keypoints are extracted from soma, they can be retargeted using the existing GMR, though you will need to align the coordinate systems and IK configurations. If your goal is to record data for training, it would be more convenient to simply add a PICO motion data recording script.

[kangnil]

佬好。soma-retargeter就是一个套皮gmr，soma-retargeter加了一个用三角函数来提高脚准确位置的小操作，用处不是很大，稍微改改就可以real-time了