diff --git a/scripts/show_mesh_axis_anchor.ipynb b/scripts/show_mesh_axis_anchor.ipynb
deleted file mode 100644
index aaf6be0..0000000
--- a/scripts/show_mesh_axis_anchor.ipynb
+++ /dev/null
@@ -1,439 +0,0 @@
-{
- "cells": [
- {
- "cell_type": "code",
- "execution_count": 2,
- "metadata": {},
- "outputs": [],
- "source": [
- "import os\n",
- "import sys\n",
- "\n",
- "module_path = os.path.abspath(os.path.join('..'))\n",
- "if module_path not in sys.path:\n",
- " sys.path.append(module_path)\n",
- "\n",
- "try:\n",
- " import panel\n",
- "except ImportError:\n",
- " print(\"Installing panel...\")\n",
- " !pip install panel"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 3,
- "metadata": {},
- "outputs": [],
- "source": [
- "import numpy as np\n",
- "import torch\n",
- "import pyvista as pv\n",
- "from trimesh import Trimesh\n",
- "from manotorch.manolayer import ManoLayer, MANOOutput\n",
- "from manotorch.axislayer import AxisLayerFK\n",
- "from manotorch.anchorlayer import AnchorLayer\n",
- "\n",
- "pv.start_xvfb()"
- ]
- },
- {
- "attachments": {},
- "cell_type": "markdown",
- "metadata": {},
- "source": [
- "### Run ManoLayer and Show MANO Hand Mesh"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 4,
- "metadata": {},
- "outputs": [],
- "source": [
- "mano_layer = ManoLayer(\n",
- " rot_mode=\"axisang\",\n",
- " use_pca=False,\n",
- " side=\"right\",\n",
- " center_idx=None,\n",
- " mano_assets_root=\"../assets/mano\",\n",
- " flat_hand_mean=False,\n",
- ")\n",
- "axis_layer = AxisLayerFK(mano_assets_root=\"../assets/mano\")\n",
- "anchor_layer = AnchorLayer(anchor_root=\"../assets/anchor\")\n",
- "\n",
- "BS = 1\n",
- "random_shape = torch.rand(BS, 10)\n",
- "root_pose = torch.tensor([[0.0, 1.0, 1.0]]).repeat(BS, 1)\n",
- "finger_pose = torch.zeros(BS, 45)\n",
- "hand_pose = torch.cat([root_pose, finger_pose], dim=1)\n",
- "\n",
- "mano_results: MANOOutput = mano_layer(hand_pose, random_shape)\n",
- "verts = mano_results.verts\n",
- "faces = mano_layer.th_faces\n",
- "V = verts[0].numpy()\n",
- "F = faces.numpy()\n",
- "tmesh = Trimesh(V, F)\n",
- "mesh = pv.wrap(tmesh)"
- ]
- },
- {
- "attachments": {},
- "cell_type": "markdown",
- "metadata": {},
- "source": [
- "next cell shows MANO hand mesh in its mean pose, you can \n",
- "* drag to rotate; \n",
- "* press 'w' to show edges;\n",
- "* press 'v' to show vertices;\n",
- "* press 's' to show surface"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 5,
- "metadata": {},
- "outputs": [
- {
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- "pv.plot(mesh,\n",
- " color=[0.8, 0.8, 0.8],\n",
- " jupyter_backend='panel',\n",
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- "### Show the Anatomy-Aligned Coordinate System\n",
- "\n",
- "The back (twist), up (spread), and left (bend) axis in its _local_ anatomy-aligned (**a**) coordinate system are defined as follows: \n",
- "\n",
- "$$\n",
- " (\\begin{array}{ccc}\n",
- " b & u & l \\\\\n",
- " \\end{array})_a = \n",
- " \\left(\n",
- " \\begin{array}{ccc}\n",
- " 1 & 0 & 0 \\\\\n",
- " 0 & 1 & 0 \\\\\n",
- " 0 & 0 & 1 \\\\\n",
- " \\end{array}\n",
- " \\right)_{a}\n",
- "$$\n",
- "\n",
- "Therefore, to acquire these axes in the _global_ system, we left-multiply the $T_{g,a}$ acquired from the axis_layer\n",
- "$$\n",
- "(b, u, l)_{g} = T_{g,a} \\cdot (b, u, l)_{a}\n",
- "$$"
- ]
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- "cell_type": "code",
- "execution_count": 6,
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- "T_g_p = mano_results.transforms_abs # (B, 16, 4, 4)\n",
- "T_g_a, R, ee = axis_layer(T_g_p) # ee (B, 16, 3)\n",
- "\n",
- "bul_axes_loc = torch.eye(3).reshape(1, 1, 3, 3).repeat(BS, 16, 1, 1).to(verts.device)\n",
- "bul_axes_glb = torch.matmul(T_g_a[:, :, :3, :3], bul_axes_loc) # (B, 16, 3, 3)\n",
- "\n",
- "b_axes_dir = bul_axes_glb[:, :, :, 0].numpy() # bend direction (B, 16, 3)\n",
- "u_axes_dir = bul_axes_glb[:, :, :, 1].numpy() # up direction (B, 16, 3)\n",
- "l_axes_dir = bul_axes_glb[:, :, :, 2].numpy() # left direction (B, 16, 3)\n",
- "\n",
- "axes_cen = T_g_a[:, :, :3, 3].numpy() # center (B, 16, 3)"
- ]
- },
- {
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- "metadata": {},
- "source": [
- "Now, show the b, u, l axes in the global system."
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 7,
- "metadata": {},
- "outputs": [
- {
- "data": {},
- "metadata": {},
- "output_type": "display_data"
- },
- {
- "data": {
- "application/vnd.holoviews_exec.v0+json": "",
- "text/html": [
- "\n",
- ""
- ],
- "text/plain": [
- "VTKRenderWindowSynchronized(vtkXOpenGLRenderWindow, sizing_mode='stretch_width')"
- ]
- },
- "metadata": {
- "application/vnd.holoviews_exec.v0+json": {
- "id": "1007"
- }
- },
- "output_type": "display_data"
- }
- ],
- "source": [
- "pl = pv.Plotter(off_screen=False)\n",
- "pl.add_mesh(mesh, opacity=0.4, name=\"mesh\", smooth_shading=True)\n",
- "pl.add_arrows(axes_cen, b_axes_dir, color=\"red\", mag=0.02)\n",
- "pl.add_arrows(axes_cen, u_axes_dir, color=\"yellow\", mag=0.02)\n",
- "pl.add_arrows(axes_cen, l_axes_dir, color=\"blue\", mag=0.02)\n",
- "pl.set_background('white')\n",
- "pl.add_camera_orientation_widget()\n",
- "pl.show(interactive=True, jupyter_backend='panel')\n"
- ]
- },
- {
- "attachments": {},
- "cell_type": "markdown",
- "metadata": {},
- "source": [
- "### Show the Anchors"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 9,
- "metadata": {},
- "outputs": [
- {
- "data": {},
- "metadata": {},
- "output_type": "display_data"
- },
- {
- "data": {
- "application/vnd.holoviews_exec.v0+json": "",
- "text/html": [
- "\n",
- ""
- ],
- "text/plain": [
- "VTKRenderWindowSynchronized(vtkXOpenGLRenderWindow, sizing_mode='stretch_width')"
- ]
- },
- "metadata": {
- "application/vnd.holoviews_exec.v0+json": {
- "id": "1013"
- }
- },
- "output_type": "display_data"
- }
- ],
- "source": [
- "verts = mano_results.verts\n",
- "anchors = anchor_layer(verts)[0].numpy()\n",
- "\n",
- "pl = pv.Plotter(off_screen=False)\n",
- "pl.add_mesh(mesh, opacity=0.4, name=\"mesh\", smooth_shading=True)\n",
- "\n",
- "n_achors = anchors.shape[0]\n",
- "for i in range(n_achors):\n",
- " pl.add_mesh(pv.Cube(center=anchors[i], x_length=3e-3, y_length=3e-3, z_length=3e-3), color=\"yellow\", name=f\"anchor{i}\")\n",
- "pl.set_background('white')\n",
- "pl.show(interactive=True, jupyter_backend='panel')"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": null,
- "metadata": {},
- "outputs": [],
- "source": []
- }
- ],
- "metadata": {
- "kernelspec": {
- "display_name": "manotorch",
- "language": "python",
- "name": "python3"
- },
- "language_info": {
- "codemirror_mode": {
- "name": "ipython",
- "version": 3
- },
- "file_extension": ".py",
- "mimetype": "text/x-python",
- "name": "python",
- "nbconvert_exporter": "python",
- "pygments_lexer": "ipython3",
- "version": "3.10.10"
- },
- "orig_nbformat": 4
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- "nbformat": 4,
- "nbformat_minor": 2
-}