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>
20 lines
1.8 KiB
Python
20 lines
1.8 KiB
Python
"""Test whether speculative rollout state can affect the next executed step."""
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import os,sys,json
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from pathlib import Path
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ROOT=Path(__file__).resolve().parents[1];O=ROOT/'output/spider_dynamics_fix_20260915';T=O/'datasets/processed/current/l20/bimanual/boxes'
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os.environ['WARP_CACHE_PATH']=str(ROOT/'.spider_cache/warp');sys.path.insert(0,str(ROOT/'third_party/spider'))
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import numpy as np,torch,mujoco,warp as wp
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from spider.config import Config
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from spider.simulators import mjwp as s
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c=Config(device='cuda:0',num_samples=64,nconmax_per_env=1024,njmax_per_env=3072,sim_dt=.0025,embodiment_type='bimanual');c.model_path=str(T/'scene_act.xml');c.object_actuator_ids=list(range(44,56));c.npair=0
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setup=s.setup_mj_model
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def model(c):
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m=setup(c);m.opt.iterations=80;return m
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s.setup_mj_model=model
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r=np.load(T/'0/trajectory_kinematic_act.npz');ref=tuple(torch.tensor(r[k],device='cuda:0',dtype=torch.float32) for k in ['qpos','qvel','ctrl','contact','contact_pos']);env=s.setup_env(c,ref);u=ref[2][0];state=s.save_state(env);s.step_env(c,env,u);wp.synchronize();expected=env.data_wp.qpos.numpy().copy();s.load_state(env,state)
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for _ in range(80):s.step_env(c,env,u)
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s.load_state(env,state);s.step_env(c,env,u);wp.synchronize();after=env.data_wp.qpos.numpy().copy();report={'state_only_max_qpos_difference':float(np.max(abs(expected-after)))}
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s.load_state(env,state);params=s.save_env_params(c,env);s.load_env_params(c,env,{'kp':np.ones(12,dtype=np.float32)*10,'kd':np.ones(12,dtype=np.float32)})
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for _ in range(80):s.step_env(c,env,u)
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s.load_state(env,state);s.load_env_params(c,env,params);s.step_env(c,env,u);wp.synchronize();after=env.data_wp.qpos.numpy().copy();report['state_and_parameters_max_qpos_difference']=float(np.max(abs(expected-after)));(O/'state_restore_check.json').write_text(json.dumps(report,indent=2));print(report)
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