def norm_trans(x, small2big=True):
    """
    功能：将舵机参数从[-1,1]归一化到[0,1] 或者相反
    输入:待反归一化舞蹈动作矩阵。数据类型为numpy.array
    返回：反归一化后的舞蹈动作矩阵
    """
    if small2big:
        out = (x + 1) / 2
        out = out.clip(0, 1)
    else:
        out = (x - 0.5) * 2
        out = out.clip(-1, 1)
    return out
