src/data/canonical_names.py

"""Canonical joint name mappings for 6 human motion capture datasets.

Maps raw joint names from each dataset to standardised lowercase English
anatomical names so that the same body part always receives the same
canonical label regardless of data source.

Generated: 2026-03-18
Datasets: humanml3d, lafan1, 100style, bandai_namco, cmu_mocap, mixamo
"""

from __future__ import annotations

# ---------------------------------------------------------------------------
# Canonical maps: dataset_id -> { raw_name: canonical_name }
# ---------------------------------------------------------------------------

CANONICAL_MAPS: dict[str, dict[str, str]] = {

    # ------------------------------------------------------------------
    # HumanML3D  (22 joints)
    # Already uses snake_case descriptive names.
    # ------------------------------------------------------------------
    "humanml3d": {
        "pelvis":        "pelvis",
        "left_hip":      "left upper leg",
        "right_hip":     "right upper leg",
        "spine1":        "spine lower",
        "left_knee":     "left lower leg",
        "right_knee":    "right lower leg",
        "spine2":        "spine mid",
        "left_ankle":    "left foot",
        "right_ankle":   "right foot",
        "spine3":        "spine upper",
        "left_foot":     "left toe",
        "right_foot":    "right toe",
        "neck":          "neck",
        "left_collar":   "left collar",
        "right_collar":  "right collar",
        "head":          "head",
        "left_shoulder":  "left upper arm",
        "right_shoulder": "right upper arm",
        "left_elbow":    "left forearm",
        "right_elbow":   "right forearm",
        "left_wrist":    "left hand",
        "right_wrist":   "right hand",
    },

    # ------------------------------------------------------------------
    # LaFAN1  (22 joints)
    # BVH-style CamelCase names.
    # ------------------------------------------------------------------
    "lafan1": {
        "Hips":           "pelvis",
        "LeftUpLeg":      "left upper leg",
        "LeftLeg":        "left lower leg",
        "LeftFoot":       "left foot",
        "LeftToe":        "left toe",
        "RightUpLeg":     "right upper leg",
        "RightLeg":       "right lower leg",
        "RightFoot":      "right foot",
        "RightToe":       "right toe",
        "Spine":          "spine lower",
        "Spine1":         "spine mid",
        "Spine2":         "spine upper",
        "Neck":           "neck",
        "Head":           "head",
        "LeftShoulder":   "left collar",
        "LeftArm":        "left upper arm",
        "LeftForeArm":    "left forearm",
        "LeftHand":       "left hand",
        "RightShoulder":  "right collar",
        "RightArm":       "right upper arm",
        "RightForeArm":   "right forearm",
        "RightHand":      "right hand",
    },

    # ------------------------------------------------------------------
    # 100STYLE  (23 joints)
    # Uses Chest/Chest2/Chest3/Chest4 for spine chain.
    # ------------------------------------------------------------------
    "100style": {
        "Hips":            "pelvis",
        "Chest":           "spine lower",
        "Chest2":          "spine mid",
        "Chest3":          "spine upper",
        "Chest4":          "chest",
        "Neck":            "neck",
        "Head":            "head",
        "RightCollar":     "right collar",
        "RightShoulder":   "right upper arm",
        "RightElbow":      "right forearm",
        "RightWrist":      "right hand",
        "LeftCollar":      "left collar",
        "LeftShoulder":    "left upper arm",
        "LeftElbow":       "left forearm",
        "LeftWrist":       "left hand",
        "RightHip":        "right upper leg",
        "RightKnee":       "right lower leg",
        "RightAnkle":      "right foot",
        "RightToe":        "right toe",
        "LeftHip":         "left upper leg",
        "LeftKnee":        "left lower leg",
        "LeftAnkle":       "left foot",
        "LeftToe":         "left toe",
    },

    # ------------------------------------------------------------------
    # Bandai-Namco  (22 joints)
    # Has an explicit "joint_Root" above Hips.  Uses _L / _R suffix.
    # ------------------------------------------------------------------
    "bandai_namco": {
        "joint_Root":   "root",
        "Hips":         "pelvis",
        "Spine":        "spine lower",
        "Chest":        "spine upper",
        "Neck":         "neck",
        "Head":         "head",
        "Shoulder_L":   "left collar",
        "UpperArm_L":   "left upper arm",
        "LowerArm_L":   "left forearm",
        "Hand_L":       "left hand",
        "Shoulder_R":   "right collar",
        "UpperArm_R":   "right upper arm",
        "LowerArm_R":   "right forearm",
        "Hand_R":       "right hand",
        "UpperLeg_L":   "left upper leg",
        "LowerLeg_L":   "left lower leg",
        "Foot_L":       "left foot",
        "Toes_L":       "left toe",
        "UpperLeg_R":   "right upper leg",
        "LowerLeg_R":   "right lower leg",
        "Foot_R":       "right foot",
        "Toes_R":       "right toe",
    },

    # ------------------------------------------------------------------
    # CMU MoCap  (31 joints)
    # Has extra hip-joint helpers, dual-neck, finger stubs, thumb stubs.
    # ------------------------------------------------------------------
    "cmu_mocap": {
        "Hips":             "pelvis",
        "LHipJoint":        "left hip joint",
        "LeftUpLeg":        "left upper leg",
        "LeftLeg":          "left lower leg",
        "LeftFoot":         "left foot",
        "LeftToeBase":      "left toe",
        "RHipJoint":        "right hip joint",
        "RightUpLeg":       "right upper leg",
        "RightLeg":         "right lower leg",
        "RightFoot":        "right foot",
        "RightToeBase":     "right toe",
        "LowerBack":        "spine lower",
        "Spine":            "spine mid",
        "Spine1":           "spine upper",
        "Neck":             "neck lower",
        "Neck1":            "neck",
        "Head":             "head",
        "LeftShoulder":     "left collar",
        "LeftArm":          "left upper arm",
        "LeftForeArm":      "left forearm",
        "LeftHand":         "left hand",
        "LeftFingerBase":   "left finger base",
        "LeftHandIndex1":   "left index 1",
        "LThumb":           "left thumb",
        "RightShoulder":    "right collar",
        "RightArm":         "right upper arm",
        "RightForeArm":     "right forearm",
        "RightHand":        "right hand",
        "RightFingerBase":  "right finger base",
        "RightHandIndex1":  "right index 1",
        "RThumb":           "right thumb",
    },

    # ------------------------------------------------------------------
    # Mixamo  (67 joints)
    # "mixamorig:" prefix.  Full finger chains (4 joints each, 5 fingers
    # per hand).  Separate eye joints.  Toe-end markers.
    # ------------------------------------------------------------------
    "mixamo": {
        "mixamorig:Hips":              "pelvis",
        "mixamorig:Spine":             "spine lower",
        "mixamorig:Spine1":            "spine mid",
        "mixamorig:Spine2":            "spine upper",
        "mixamorig:Neck":              "neck",
        "mixamorig:Head":              "head",
        "mixamorig:HeadTop_End":       "head top",
        "LeftEye":                     "left eye",
        "RightEye":                    "right eye",
        # -- Left arm --
        "mixamorig:LeftShoulder":      "left collar",
        "mixamorig:LeftArm":           "left upper arm",
        "mixamorig:LeftForeArm":       "left forearm",
        "mixamorig:LeftHand":          "left hand",
        # -- Left thumb --
        "mixamorig:LeftHandThumb1":    "left thumb 1",
        "mixamorig:LeftHandThumb2":    "left thumb 2",
        "mixamorig:LeftHandThumb3":    "left thumb 3",
        "mixamorig:LeftHandThumb4":    "left thumb 4",
        # -- Left index --
        "mixamorig:LeftHandIndex1":    "left index 1",
        "mixamorig:LeftHandIndex2":    "left index 2",
        "mixamorig:LeftHandIndex3":    "left index 3",
        "mixamorig:LeftHandIndex4":    "left index 4",
        # -- Left middle --
        "mixamorig:LeftHandMiddle1":   "left middle 1",
        "mixamorig:LeftHandMiddle2":   "left middle 2",
        "mixamorig:LeftHandMiddle3":   "left middle 3",
        "mixamorig:LeftHandMiddle4":   "left middle 4",
        # -- Left ring --
        "mixamorig:LeftHandRing1":     "left ring 1",
        "mixamorig:LeftHandRing2":     "left ring 2",
        "mixamorig:LeftHandRing3":     "left ring 3",
        "mixamorig:LeftHandRing4":     "left ring 4",
        # -- Left pinky --
        "mixamorig:LeftHandPinky1":    "left pinky 1",
        "mixamorig:LeftHandPinky2":    "left pinky 2",
        "mixamorig:LeftHandPinky3":    "left pinky 3",
        "mixamorig:LeftHandPinky4":    "left pinky 4",
        # -- Right arm --
        "mixamorig:RightShoulder":     "right collar",
        "mixamorig:RightArm":          "right upper arm",
        "mixamorig:RightForeArm":      "right forearm",
        "mixamorig:RightHand":         "right hand",
        # -- Right thumb --
        "mixamorig:RightHandThumb1":   "right thumb 1",
        "mixamorig:RightHandThumb2":   "right thumb 2",
        "mixamorig:RightHandThumb3":   "right thumb 3",
        "mixamorig:RightHandThumb4":   "right thumb 4",
        # -- Right index --
        "mixamorig:RightHandIndex1":   "right index 1",
        "mixamorig:RightHandIndex2":   "right index 2",
        "mixamorig:RightHandIndex3":   "right index 3",
        "mixamorig:RightHandIndex4":   "right index 4",
        # -- Right middle --
        "mixamorig:RightHandMiddle1":  "right middle 1",
        "mixamorig:RightHandMiddle2":  "right middle 2",
        "mixamorig:RightHandMiddle3":  "right middle 3",
        "mixamorig:RightHandMiddle4":  "right middle 4",
        # -- Right ring --
        "mixamorig:RightHandRing1":    "right ring 1",
        "mixamorig:RightHandRing2":    "right ring 2",
        "mixamorig:RightHandRing3":    "right ring 3",
        "mixamorig:RightHandRing4":    "right ring 4",
        # -- Right pinky --
        "mixamorig:RightHandPinky1":   "right pinky 1",
        "mixamorig:RightHandPinky2":   "right pinky 2",
        "mixamorig:RightHandPinky3":   "right pinky 3",
        "mixamorig:RightHandPinky4":   "right pinky 4",
        # -- Left leg --
        "mixamorig:LeftUpLeg":         "left upper leg",
        "mixamorig:LeftLeg":           "left lower leg",
        "mixamorig:LeftFoot":          "left foot",
        "mixamorig:LeftToeBase":       "left toe",
        "mixamorig:LeftToe_End":       "left toe end",
        # -- Right leg --
        "mixamorig:RightUpLeg":        "right upper leg",
        "mixamorig:RightLeg":          "right lower leg",
        "mixamorig:RightFoot":         "right foot",
        "mixamorig:RightToeBase":      "right toe",
        "mixamorig:RightToe_End":      "right toe end",
    },
}

# ---------------------------------------------------------------------------
# Convenience helpers
# ---------------------------------------------------------------------------

def get_canonical_names(joint_names: list[str], dataset_id: str) -> list[str]:
    """Map a list of raw joint names to their canonical equivalents.

    Parameters
    ----------
    joint_names : list[str]
        Raw joint names exactly as they appear in the dataset's skeleton.npz.
    dataset_id : str
        One of the keys in ``CANONICAL_MAPS`` (e.g. ``"humanml3d"``).

    Returns
    -------
    list[str]
        Canonical names in the same order as *joint_names*.

    Raises
    ------
    KeyError
        If *dataset_id* is not recognised or a raw joint name has no mapping.
    """
    if dataset_id not in CANONICAL_MAPS:
        raise KeyError(
            f"Unknown dataset_id '{dataset_id}'. "
            f"Available: {sorted(CANONICAL_MAPS.keys())}"
        )
    mapping = CANONICAL_MAPS[dataset_id]
    canonical: list[str] = []
    for name in joint_names:
        if name not in mapping:
            raise KeyError(
                f"Joint '{name}' has no canonical mapping in dataset "
                f"'{dataset_id}'. Mapped joints: {sorted(mapping.keys())}"
            )
        canonical.append(mapping[name])
    return canonical


def get_all_canonical_names() -> set[str]:
    """Return the full set of unique canonical names across all datasets."""
    names: set[str] = set()
    for mapping in CANONICAL_MAPS.values():
        names.update(mapping.values())
    return names


def verify_all_datasets() -> dict[str, list[str]]:
    """Load every skeleton.npz and confirm that all raw names have mappings.

    Returns a dict ``{dataset_id: [canonical_names]}`` on success.
    Raises ``KeyError`` if any raw name is unmapped.
    """
    import numpy as np
    from pathlib import Path

    base = Path(__file__).resolve().parents[2] / "data" / "processed"
    result: dict[str, list[str]] = {}
    for ds_id in CANONICAL_MAPS:
        skel = np.load(str(base / ds_id / "skeleton.npz"), allow_pickle=True)
        raw_names = [str(n) for n in skel["joint_names"]]
        result[ds_id] = get_canonical_names(raw_names, ds_id)
    return result