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>
14 lines
1.1 KiB
Python
14 lines
1.1 KiB
Python
from pathlib import Path
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import numpy as np,trimesh,coacd,json
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ROOT=Path(__file__).resolve().parents[1];out=ROOT/'output/foundationpose_spider_20260915/collision';out.mkdir(exist_ok=True)
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coacd.set_log_level('warn');report={}
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for name,file in [('upper','上半.stl'),('lower','下半.stl')]:
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m=trimesh.load(ROOT/'docs'/file)
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if name=='upper':m=trimesh.load(ROOT/'output/depth_ablation_red_20260916/red_box_closed.ply',process=False)
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print(name,'watertight',m.is_watertight,flush=True)
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parts=coacd.run_coacd(coacd.Mesh(m.vertices,m.faces),threshold=.03,max_convex_hull=20,preprocess_mode='auto',preprocess_resolution=60,resolution=1500,mcts_nodes=10,mcts_iterations=60,mcts_max_depth=3,merge=True,seed=0)
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for i,(v,f) in enumerate(parts):trimesh.Trimesh(v,f,process=False).export(out/f'{name}_{i:03d}.obj')
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report[name]={'parts':len(parts),'mesh_volume_m3':m.volume,'hull_volume_sum_m3':sum(trimesh.Trimesh(v,f,process=False).volume for v,f in parts),'approximation':'CoACD convex decomposition, threshold .03; not exact CAD collision'}
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print(name,report[name],flush=True)
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(out/'manifest.json').write_text(json.dumps(report,indent=2))
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