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import math
import torch
from lib.body_models.skel.kin_skel import pose_param_names
# Different from the original one, has some modifications.
pose_limits = {
'scapula_abduction_r' : [-0.628, 0.628], # 26
'scapula_elevation_r' : [-0.4, -0.1], # 27
'scapula_upward_rot_r' : [-0.190, 0.319], # 28
'scapula_abduction_l' : [-0.628, 0.628], # 36
'scapula_elevation_l' : [-0.4, -0.1], # 37
'scapula_upward_rot_l' : [-0.210, 0.219], # 38
'elbow_flexion_r' : [0, (3/4)*math.pi], # 32
'pro_sup_r' : [-3/4*math.pi/2, 3/4*math.pi/2], # 33
'wrist_flexion_r' : [-math.pi/2, math.pi/2], # 34
'wrist_deviation_r' :[-math.pi/4, math.pi/4], # 35
'elbow_flexion_l' : [0, (3/4)*math.pi], # 42
'pro_sup_l' : [-math.pi/2, math.pi/2], # 43
'wrist_flexion_l' : [-math.pi/2, math.pi/2], # 44
'wrist_deviation_l' :[-math.pi/4, math.pi/4], # 45
'lumbar_bending' : [-2/3*math.pi/4, 2/3*math.pi/4], # 17
'lumbar_extension' : [-math.pi/4, math.pi/4], # 18
'lumbar_twist' : [-math.pi/4, math.pi/4], # 19
'thorax_bending' :[-math.pi/4, math.pi/4], # 20
'thorax_extension' :[-math.pi/4, math.pi/4], # 21
'thorax_twist' :[-math.pi/4, math.pi/4], # 22
'head_bending' :[-math.pi/4, math.pi/4], # 23
'head_extension' :[-math.pi/4, math.pi/4], # 24
'head_twist' :[-math.pi/4, math.pi/4], # 25
'ankle_angle_r' : [-math.pi/4, math.pi/4], # 7
'subtalar_angle_r' : [-math.pi/4, math.pi/4], # 8
'mtp_angle_r' : [-math.pi/4, math.pi/4], # 9
'ankle_angle_l' : [-math.pi/4, math.pi/4], # 14
'subtalar_angle_l' : [-math.pi/4, math.pi/4], # 15
'mtp_angle_l' : [-math.pi/4, math.pi/4], # 16
'knee_angle_r' : [0, 3/4*math.pi], # 6
'knee_angle_l' : [0, 3/4*math.pi], # 13
# Added by HSMR to make optimization more stable.
'hip_flexion_r' : [-math.pi/4, 3/4*math.pi], # 3
'hip_adduction_r' : [-math.pi/4, 2/3*math.pi/4], # 4
'hip_rotation_r' : [-math.pi/4, math.pi/4], # 5
'hip_flexion_l' : [-math.pi/4, 3/4*math.pi], # 10
'hip_adduction_l' : [-math.pi/4, 2/3*math.pi/4], # 11
'hip_rotation_l' : [-math.pi/4, math.pi/4], # 12
'shoulder_r_x' : [-math.pi/2, math.pi/2+1.5], # 29, from bsm.osim
'shoulder_r_y' : [-math.pi/2, math.pi/2], # 30
'shoulder_r_z' : [-math.pi/2, math.pi/2], # 31, from bsm.osim
'shoulder_l_x' : [-math.pi/2-1.5, math.pi/2], # 39, from bsm.osim
'shoulder_l_y' : [-math.pi/2, math.pi/2], # 40
'shoulder_l_z' : [-math.pi/2, math.pi/2], # 41, from bsm.osim
}
pose_param_name2qid = {name: qid for qid, name in enumerate(pose_param_names)}
qid2pose_param_name = {qid: name for qid, name in enumerate(pose_param_names)}
SKEL_LIM_QIDS = []
SKEL_LIM_BOUNDS = []
for name, (low, up) in pose_limits.items():
if low > up:
low, up = up, low
SKEL_LIM_QIDS.append(pose_param_name2qid[name])
SKEL_LIM_BOUNDS.append([low, up])
SKEL_LIM_BOUNDS = torch.Tensor(SKEL_LIM_BOUNDS).float()
SKEL_LIM_QID2IDX = {qid: i for i, qid in enumerate(SKEL_LIM_QIDS)} # inverse mapping |