Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
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+"""Local correction for dex 0.5.0 PositionOptimizer's inconsistent loss/gradient."""
+import numpy as np
+from dex_retargeting.optimizer import PositionOptimizer
+
+class ConsistentPositionOptimizer(PositionOptimizer):
+    def get_objective_function(self,target_pos,fixed_qpos,last_qpos):
+        original=super().get_objective_function(target_pos,fixed_qpos,last_qpos)
+        def objective(x,grad):
+            # Upstream already includes this term's gradient, but omits its value.
+            return original(x,grad)+self.norm_delta*float(np.sum((x-last_qpos)**2))
+        return objective