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>
15 lines
1.3 KiB
Python
15 lines
1.3 KiB
Python
"""Apply the selected bounded-drive contact model after geometric preparation."""
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from pathlib import Path
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import json,xml.etree.ElementTree as E
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O=Path(__file__).resolve().parents[1]/'output/collision_fix_20260915';p=O/'datasets/processed/current/l20/bimanual/boxes/scene_act.xml';tree=E.parse(p);r=tree.getroot();r.find('option').set('iterations','80');r.find('option').set('ls_iterations','50')
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for g in r.findall('.//geom'):
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if g.get('contype') in ['1','2']:g.set('solimp','.999 .9999 .0001 .5 2');g.set('solref','.005 1')
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for a in r.findall('actuator/position'):
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n=a.get('name')
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if '_object_' in n:continue
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if '_hand_pos_' in n:kp,kv,limit=500,30,20
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elif '_hand_rot_' in n:kp,kv,limit=15,2,2
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else:kp,kv,limit=4,.15,.1
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a.attrib.update(kp=str(kp),kv=str(kv),forcerange=f'{-limit} {limit}')
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tree.write(p);(O/'physics_parameters.json').write_text(json.dumps({'solver_iterations':80,'ls_iterations':50,'wrist_position_kp':500,'wrist_position_kv':30,'wrist_force_cap_N':20,'wrist_rotation_kp':15,'wrist_rotation_kv':2,'wrist_torque_cap_Nm':2,'finger_kp':4,'finger_kv':.15,'finger_torque_cap_Nm':.1,'contact_solimp':[.999,.9999,.0001,.5,2],'contact_solref':[.005,1],'note':'Simulation drive assumptions, not measured hardware ratings. Chosen after full-clip CPU control-replay comparison.'},indent=2))
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