liyang
ae28d55f81
Source: RGB-D -> Dyn-HaMR -> L20 retargeting -> FoundationPose -> reference repair -> SPIDER, documented in docs/PIPELINE_LATEST.md and docs/SETUP_AND_WEIGHTS.md. Adds FoundationPose and nvdiffrast upstream snapshots, requirements/pipeline_venv.txt and the FoundationPose weight manifest/downloader. Assets (Git LFS): weights/ (WiLoR detector, HandFlow denoiser, UniDepth-L), FoundationPose checkpoints, HaMeR checkpoint, Dyn-HaMR HMP model and BMC constraints, L20 URDF/meshes, the 20260915_171525 D405 recording and the two box CADs. MANO models are not redistributed (third_party/hamer/_DATA/data/mano/README.txt). Environments, caches and run outputs excluded. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
9 lines
1.2 KiB
Python
9 lines
1.2 KiB
Python
"""Remove initial CAD/table interpenetration before unassisted physics; record the offset."""
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from pathlib import Path
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import numpy as np,mujoco,xml.etree.ElementTree as E,json
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O=Path(__file__).resolve().parents[1]/'output/collision_fix_20260915';T=O/'datasets/processed/current/l20/bimanual/boxes';p=T/'scene_act.xml';m=mujoco.MjModel.from_xml_path(str(p));d=mujoco.MjData(m);d.qpos[:]=np.load(T/'0/trajectory_kinematic_act.npz')['qpos'][0];mujoco.mj_fwdPosition(m,d);z=[]
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for g in range(m.ngeom):
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if m.geom_contype[g]!=2:continue
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mid=m.geom_dataid[g];v=m.mesh_vert[m.mesh_vertadr[mid]:m.mesh_vertadr[mid]+m.mesh_vertnum[mid]];world=v@d.geom_xmat[g].reshape(3,3).T+d.geom_xpos[g];z.append(world[:,2].min())
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height=float(min(z)-.0005);tree=E.parse(p);floor=tree.getroot().find("worldbody/geom[@name='right_floor']");old=float(floor.get('pos').split()[2]);floor.set('pos',f'0 0 {height}');tree.write(p);report={'old_height_m':old,'new_height_m':height,'offset_m':height-old,'reason':'No object/table initial overlap. Simulation alignment correction, not a new measured plane; object poses unchanged.'};(O/'floor_alignment.json').write_text(json.dumps(report,indent=2));print(report)
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