push natural pose

smpl_generator.py

@@ -158,54 +158,54 @@ class SMPLGenerator:
         if global_orient is None:
             global_orient = torch.zeros([batch_size, 3], device=self.device)
             global_orient[0, 0] = np.radians(2)
-            global_orient[0, 1] = np.radians(-2)
-            global_orient[0, 2] = 0.0
         elif isinstance(global_orient, np.ndarray):
             global_orient = torch.FloatTensor(global_orient).to(self.device)
         
         if body_pose is None:
             body_pose = torch.zeros([batch_size, 69], device=self.device)
             
-            shoulder_down = np.radians(-18)
-            shoulder_forward = np.radians(4)
-            shoulder_out = np.radians(6)
-            elbow_bend = np.radians(10)
-            wrist_rot = np.radians(5)
-            hip_external = np.radians(5)
-            hip_flex = np.radians(2)
-            hip_drop = np.radians(-1)
-            knee_bend = np.radians(3)
-            ankle_dorsi = np.radians(3)
-            ankle_roll = np.radians(1)
-            toe_up = np.radians(2)
+            shoulder_down = np.radians(-12.5)
+            shoulder_forward = np.radians(7.5)
+            upper_arm_adduction = np.radians(12.5)
+            upper_arm_forward = np.radians(7.5)
+            elbow_bend = np.radians(12.5)
+            palm_inward = np.radians(15)
+            hip_forward_tilt = np.radians(2)
+            hip_outward = np.radians(7.5)
+            hip_flex = np.radians(3.5)
+            knee_bend = np.radians(4)
+            foot_outward = np.radians(11.5)
             
-            body_pose[0, 6:9] = torch.tensor([shoulder_down, shoulder_out, shoulder_forward], device=self.device)
-            body_pose[0, 9:12] = torch.tensor([shoulder_down, -shoulder_out, -shoulder_forward], device=self.device)
+            body_pose[0, 6:9] = torch.tensor([shoulder_down, 0, shoulder_forward], device=self.device)
+            body_pose[0, 9:12] = torch.tensor([shoulder_down, 0, -shoulder_forward], device=self.device)
             
-            body_pose[0, 12:15] = torch.tensor([0, elbow_bend, 0], device=self.device)
-            body_pose[0, 15:18] = torch.tensor([0, elbow_bend, 0], device=self.device)
+            body_pose[0, 12:15] = torch.tensor([upper_arm_adduction, upper_arm_forward, 0], device=self.device)
+            body_pose[0, 15:18] = torch.tensor([-upper_arm_adduction, upper_arm_forward, 0], device=self.device)
             
-            body_pose[0, 18:21] = torch.tensor([0, 0, wrist_rot], device=self.device)
-            body_pose[0, 21:24] = torch.tensor([0, 0, -wrist_rot], device=self.device)
+            body_pose[0, 18:21] = torch.tensor([0, elbow_bend, 0], device=self.device)
+            body_pose[0, 21:24] = torch.tensor([0, elbow_bend, 0], device=self.device)
             
-            body_pose[0, 24:27] = torch.tensor([np.radians(-3), np.radians(1), 0], device=self.device)
-            body_pose[0, 27:30] = torch.tensor([np.radians(2), 0, 0], device=self.device)
-            body_pose[0, 30:33] = torch.tensor([np.radians(-1), 0, 0], device=self.device)
+            body_pose[0, 24:27] = torch.tensor([0, 0, palm_inward], device=self.device)
+            body_pose[0, 27:30] = torch.tensor([0, 0, -palm_inward], device=self.device)
             
+            body_pose[0, 30:33] = torch.tensor([np.radians(5), 0, 0], device=self.device)
             body_pose[0, 33:36] = torch.tensor([np.radians(3), 0, 0], device=self.device)
-            body_pose[0, 36:39] = torch.tensor([np.radians(-2), 0, 0], device=self.device)
+            body_pose[0, 36:39] = torch.tensor([0, 0, 0], device=self.device)
             
-            body_pose[0, 39:42] = torch.tensor([hip_flex, hip_external, hip_drop], device=self.device)
-            body_pose[0, 42:45] = torch.tensor([hip_flex, -hip_external, -hip_drop], device=self.device)
+            body_pose[0, 39:42] = torch.tensor([np.radians(2), 0, 0], device=self.device)
+            body_pose[0, 42:45] = torch.tensor([0, 0, 0], device=self.device)
             
-            body_pose[0, 45:48] = torch.tensor([0, knee_bend, 0], device=self.device)
-            body_pose[0, 48:51] = torch.tensor([0, knee_bend, 0], device=self.device)
+            body_pose[0, 45:48] = torch.tensor([hip_flex, hip_outward, 0], device=self.device)
+            body_pose[0, 48:51] = torch.tensor([hip_flex, -hip_outward, 0], device=self.device)
             
-            body_pose[0, 51:54] = torch.tensor([ankle_dorsi, ankle_roll, 0], device=self.device)
-            body_pose[0, 54:57] = torch.tensor([ankle_dorsi, -ankle_roll, 0], device=self.device)
+            body_pose[0, 51:54] = torch.tensor([0, knee_bend, 0], device=self.device)
+            body_pose[0, 54:57] = torch.tensor([0, knee_bend, 0], device=self.device)
             
-            body_pose[0, 57:60] = torch.tensor([toe_up, 0, 0], device=self.device)
-            body_pose[0, 60:63] = torch.tensor([toe_up, 0, 0], device=self.device)
+            body_pose[0, 57:60] = torch.tensor([0, foot_outward, 0], device=self.device)
+            body_pose[0, 60:63] = torch.tensor([0, -foot_outward, 0], device=self.device)
+            
+            body_pose[0, 63:66] = torch.tensor([0, 0, 0], device=self.device)
+            body_pose[0, 66:69] = torch.tensor([0, 0, 0], device=self.device)
         elif isinstance(body_pose, np.ndarray):
             body_pose = torch.FloatTensor(body_pose).to(self.device)