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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 |