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>
35 lines
1.9 KiB
Python
35 lines
1.9 KiB
Python
"""Audit filtered/projected reference for table and hand-object penetration."""
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from pathlib import Path
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import json
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import numpy as np
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import mujoco
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ROOT = Path(__file__).resolve().parents[1]
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O = ROOT / "output/desktop_smooth_fix_20260915"
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z = np.load(O / "reference_video_rate.npz")
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m = mujoco.MjModel.from_xml_path(str(O / "scene_act.xml")); d = mujoco.MjData(m)
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floor = next(i for i in range(m.ngeom) if "_floor" in (m.geom(i).name or ""))
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floor_z = float(m.geom_pos[floor][2])
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result = {"frames": len(z["qpos"]), "floor_z_m": floor_z, "max_table_penetration_mm": 0.0,
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"max_hand_object_penetration_mm": 0.0, "frames_table_over_0_5mm": 0,
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"frames_hand_object_over_0_5mm": 0}
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for row in z["qpos"]:
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d.qpos[:] = row; mujoco.mj_forward(m, d)
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floor_min = {"right": 1.0, "left": 1.0}
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for g in range(m.ngeom):
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n = m.geom(g).name or ""
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if not n.startswith(("right_", "left_")) or m.geom_dataid[g] < 0:
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continue
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side = n.split("_")[0]; mid = int(m.geom_dataid[g]); a = int(m.mesh_vertadr[mid]); b = a + int(m.mesh_vertnum[mid])
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v = m.mesh_vert[a:b: max(1, (b-a)//128)]
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world = v @ d.geom_xmat[g].reshape(3,3).T + d.geom_xpos[g]
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floor_min[side] = min(floor_min[side], float(world[:,2].min()-floor_z))
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tp = max(0.0, -min(floor_min.values())) * 1000
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hp = 0.0
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for c in d.contact:
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a,b = int(c.geom[0]), int(c.geom[1]); ta,tb = int(m.geom_contype[a]),int(m.geom_contype[b])
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if {ta,tb} == {1,2}: hp = max(hp, max(0.0,-float(c.dist))*1000)
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result["max_table_penetration_mm"] = max(result["max_table_penetration_mm"],tp); result["max_hand_object_penetration_mm"] = max(result["max_hand_object_penetration_mm"],hp)
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result["frames_table_over_0_5mm"] += tp > .5; result["frames_hand_object_over_0_5mm"] += hp > .5
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(O/"smoothing_table_validation.json").write_text(json.dumps(result,indent=2)); print(json.dumps(result,indent=2))
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