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
7002 changed files with 1452249 additions and 0 deletions
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+"""Compare two trajectories with exactly the same fixed world camera."""
+import os
+os.environ.setdefault('MUJOCO_GL','osmesa')
+from pathlib import Path
+import json
+import mujoco
+import numpy as np
+import imageio.v2 as imageio
+from PIL import Image,ImageDraw,ImageFont
+from scipy.spatial.transform import Rotation
+
+ROOT=Path(__file__).resolve().parents[1]
+out=ROOT/'output/l20_15886123_stable'
+motions=[]
+for folder in [ROOT/'output/l20_15886123',out]:
+    with np.load(folder/'motion.npz') as f:
+        motions.append({k:f[k] for k in f.files})
+count=len(motions[0]['qpos']);fps=float(motions[0]['fps'])
+assert count==len(motions[1]['qpos'])
+model=mujoco.MjModel.from_xml_path(str(out/'l20_moving.xml'))
+data=mujoco.MjData(model)
+addr=[model.jnt_qposadr[model.joint(str(n)).id] for n in motions[0]['joint_names']]
+wrist=model.jnt_qposadr[model.joint('wrist_free').id]
+world=[]
+for m in motions:
+    r=Rotation.from_quat(m['wrist_quat_wxyz'][:,[1,2,3,0]]).as_matrix()
+    world.append(np.einsum('tij,tkj->tki',r,m['actual'])+m['wrist_pos'][:,None])
+points=np.concatenate(world).reshape(-1,3)
+center=(points.min(0)+points.max(0))/2
+model.geom_pos[model.geom('floor').id,2]=points[:,2].min()-.035
+model.vis.quality.offsamples=1
+model.vis.headlight.ambient[:]=.65
+model.vis.headlight.diffuse[:]=.7
+cam=mujoco.MjvCamera();cam.lookat[:]=center;cam.distance=max(.65,float(np.ptp(points,axis=0).max())*2.1);cam.azimuth=100;cam.elevation=5
+option=mujoco.MjvOption();option.sitegroup[:]=0
+renderer=mujoco.Renderer(model,height=480,width=640)
+font=ImageFont.truetype('/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf',18)
+writer=imageio.get_writer(out/'comparison.mp4',fps=fps,codec='libx264',quality=8)
+try:
+    for t in range(count):
+        panels=[]
+        for m in motions:
+            data.qpos[addr]=m['qpos'][t]
+            data.qpos[wrist:wrist+3]=m['wrist_pos'][t]
+            data.qpos[wrist+3:wrist+7]=m['wrist_quat_wxyz'][t]
+            mujoco.mj_forward(model,data)
+            renderer.update_scene(data,camera=cam,scene_option=option)
+            panels.append(renderer.render().copy())
+        im=Image.fromarray(np.concatenate(panels,axis=1));d=ImageDraw.Draw(im)
+        d.rectangle([0,0,1280,50],fill=(15,22,30))
+        d.text((12,8),'Before - previous smoothing',font=font,fill='white')
+        d.text((652,8),'After - temporal regularization',font=font,fill='white')
+        d.text((12,29),f'Same fixed camera | {t/fps:.2f} s | moving wrist preserved',font=font,fill=(190,210,225))
+        writer.append_data(np.asarray(im))
+        if t==280:im.save(out/'comparison_preview.png')
+        if t%200==0:print('AB render',t,count,flush=True)
+finally:
+    writer.close();renderer.close()
+(out/'comparison_camera.json').write_text(json.dumps(dict(same_camera=True,fixed_world_camera=True,frames=count,fps=fps,lookat=center.tolist(),distance=cam.distance,azimuth=cam.azimuth,elevation=cam.elevation),indent=2))
+print('COMPLETE',flush=True)