File size: 2,189 Bytes
38b191e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 | from scipy.spatial.transform import Rotation as R
import torch, numpy as np
BOF_body = np.array([
[-120.0, -130.0, -80.0, # left shoulder
-120.0, 0.0, -80.0, # right shoulder
-180.0, -160.0, -180.0, # left elbow
-180.0, 0.0, -180.0, # right elbow
-120.0, -50.0, -90.0, # left wrist
-120.0, -50.0, -90.0, # right wrist
],
[90.0, 0.0, 80.0, # left shoulder
90.0, 130.0, 80.0, # right shoulder
180.0, 0.0, 180.0, # left elbow
180.0, 160.0, 180.0, # right elbow
90.0, 50.0, 90.0, # left wrist
90.0, 50.0, 90.0]]) / 180 * np.pi
def _to_numpy_flat_last3(x: torch.Tensor):
dev, dt = x.device, x.dtype
x_np = x.detach().cpu().numpy().reshape(-1, 3)
return x_np, x.shape, dev, dt
def _from_numpy(x_np: np.ndarray, shape, dev, dt):
y = torch.from_numpy(x_np.reshape(*shape))
if dt in (torch.float32, torch.float64): y = y.to(dt)
return y.to(dev)
def euler_XYZ_to_axis_angle_scipy(e: torch.Tensor, degrees: bool = False) -> torch.Tensor:
e_np, shape, dev, dt = _to_numpy_flat_last3(e)
aa_np = R.from_euler('XYZ', e_np, degrees=degrees).as_rotvec()
return _from_numpy(aa_np, shape, dev, dt)
def axis_angle_to_euler_XYZ_scipy(aa: torch.Tensor):
aa_np, shape, dev, dt = _to_numpy_flat_last3(aa)
e_np = R.from_rotvec(aa_np).as_euler('XYZ', degrees=False)
return _from_numpy(e_np, shape, dev, dt)
def apply_angular_constraints(body_pose): # body_pose: (B, 63) axis-angle for 21 joints
device = body_pose.device
B = body_pose.shape[0]
body_pose = body_pose.view(B, 21, 3)
# your bounds (6×3) in radians, defined for joints [15..20] in intrinsic 'XYZ'
minC = torch.tensor(BOF_body[0], dtype=body_pose.dtype, device=device).view(6,3)
maxC = torch.tensor(BOF_body[1], dtype=body_pose.dtype, device=device).view(6,3)
aa_arms = body_pose[:, 15:, :]
e_arms = axis_angle_to_euler_XYZ_scipy(aa_arms) # (B,6,3) intrinsic 'XYZ'
e_clamp = torch.clamp(e_arms, minC, maxC)
aa_new = euler_XYZ_to_axis_angle_scipy(e_clamp)
body_pose[:, 15:, :] = aa_new
return body_pose.view(B, -1)
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