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smpl_generator.py

@@ -155,51 +155,60 @@ class SMPLGenerator:
         
         batch_size = betas.shape[0]
         
+        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)
             
-            left_shoulder_adduction = 0.25
-            right_shoulder_adduction = -0.25
-            
-            left_shoulder_extension = -0.10
-            right_shoulder_extension = -0.10
+            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)
             
-            left_shoulder_twist = 0.05
-            right_shoulder_twist = -0.05
+            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)
             
-            left_elbow_flexion = 0.18
-            right_elbow_flexion = 0.18
+            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)
             
-            left_foot_outward = 0.18
-            right_foot_outward = -0.18
+            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)
             
-            left_ankle_dorsiflex = 0.05
-            right_ankle_dorsiflex = 0.05
+            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, 16] = left_shoulder_adduction
-            body_pose[0, 17] = left_shoulder_extension
-            body_pose[0, 22] = left_shoulder_twist
+            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, 18] = right_shoulder_adduction
-            body_pose[0, 19] = right_shoulder_extension
-            body_pose[0, 23] = right_shoulder_twist
+            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, 20] = left_elbow_flexion
-            body_pose[0, 21] = right_elbow_flexion
+            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, 26] = left_ankle_dorsiflex
-            body_pose[0, 27] = left_foot_outward
+            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, 24] = right_ankle_dorsiflex
-            body_pose[0, 25] = right_foot_outward
+            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)
         elif isinstance(body_pose, np.ndarray):
             body_pose = torch.FloatTensor(body_pose).to(self.device)
         
-        if global_orient is None:
-            global_orient = torch.zeros([batch_size, 3], device=self.device)
-        elif isinstance(global_orient, np.ndarray):
-            global_orient = torch.FloatTensor(global_orient).to(self.device)
-        
         if transl is None:
             transl = torch.zeros([batch_size, 3], device=self.device)
         elif isinstance(transl, np.ndarray):