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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+"""Matched wrist-local diagnostic view of the worst contact-jump interval."""
+import os
+os.environ.setdefault('MUJOCO_GL','osmesa')
+import json
+import numpy as np
+import mujoco,imageio.v2 as imageio
+from PIL import Image,ImageDraw
+from l20_calibrated import ROOT
+base=ROOT/'output/l20_2047635068';out=base/'jitter_audit'
+sources=[base/'motion.npz',out/'temporal/motion.npz',base/'bottle_grasp/registered_motion.npz']
+motion=[np.load(p) for p in sources]
+model=mujoco.MjModel.from_xml_path(str(base/'l20_moving.xml'));data=mujoco.MjData(model)
+addr=[model.jnt_qposadr[model.joint(str(n)).id] for n in motion[0]['joint_names']]
+model.geom_rgba[model.geom('floor').id,3]=0;model.vis.headlight.ambient[:]=.8
+model.vis.quality.offsamples=1;renderer=mujoco.Renderer(model,height=400,width=400)
+cam=mujoco.MjvCamera();cam.lookat[:]=[.025,0,.105];cam.distance=.48;cam.azimuth=130;cam.elevation=5
+opt=mujoco.MjvOption();opt.sitegroup[:]=0
+writer=imageio.get_writer(out/'comparison_12s_18s.mp4',fps=30,codec='libx264',quality=8)
+labels=['Original L20 (hand only)','Corrected + offline temporal smoothing','Previous contact fit (known jumps)']
+for t in range(360,540):
+    panels=[]
+    for m in motion:
+        data.qpos[addr]=m['qpos'][t];mujoco.mj_forward(model,data);renderer.update_scene(data,camera=cam,scene_option=opt);panels.append(renderer.render().copy())
+    img=Image.fromarray(np.concatenate(panels,axis=1));draw=ImageDraw.Draw(img);draw.rectangle([0,0,1200,64],fill=(20,25,35))
+    for j,label in enumerate(labels):
+        step=np.rad2deg(np.abs(motion[j]['qpos'][t]-motion[j]['qpos'][t-1]).max())
+        draw.text((j*400+8,7),label,fill='white');draw.text((j*400+8,24),f'frame {t} | maximum joint step {step:.2f} deg',fill='white')
+    draw.text((8,45),'Wrist-local diagnostic view only; saved trajectories retain moving wrists. No physical grasp claim.',fill='white')
+    writer.append_data(np.asarray(img))
+    if t==461:img.save(out/'comparison_frame461.png')
+writer.close();renderer.close()
+print('COMPLETE 180 frames, source interval [360,540), 30 fps')