Commit History
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update: arcticv2 + oakinkv2 retarget outputs; ignore logs/caches
Chaoyi Pan- arcticv2 dataset assets, scenes, and per-task trajectories (mjwp_fast) - oakinkv2 sharpa/xhand pipeline re-runs with kp=300 actuators - gigahand schunk bimanual summary refresh - .gitignore: add *.log, _logs/, __pycache__/, .cache/, wandb/, outputs/; ignore sharpa symlinks pointing into private-robots8b0cdf2
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fix: sharpa scenes hard-reset from upstream private-robots
Chaoyi PanThe sharpa right.xml/left.xml on the dataset side had drifted from the upstream jc-bao/private-robots: it still carried experimental ``quat="0 1 1 0"`` on the right_palm/left_palm sites from earlier debugging, even though I had already updated the dataset-side xml back to ``euler="0 0 0"`` once. The drift survived because: 1. ``processed/oakink/assets/robots/sharpa/`` had become a real directory with its own copy of the xml (overlaying the symlink used during initial bring-up). 2. ``generate_xml.py``'s mj_spec.compile()/to_xml() faithfully wrote the rotated palm site into every produced scene.xml, which then stuck around even after I re-pointed the source. Hard reset: ``rsync --delete`` the upstream private-robots/sharpa contents over the dataset path, wipe ``processed/oakinkv2/sharpa/``, re-run the full pipeline (decompose → generate_xml → ik_fast → mjwp_fast) with the clean source. After this reset the compiled scene.xml correctly emits the palm site with n…9e0451a -
fix: sharpa scenes regenerated from original palm site (no stale quat)
Chaoyi PanEarlier commits (7283a8a, 72f464b) accidentally baked a non-identity ``right_palm`` quat (`quat="0 0.707107 0.707107 0"`) into the compiled sharpa scene.xml from a temporary experimental palm-site change. The source ``right.xml`` was reverted but the dataset still shipped the old compiled scene, causing the IK to align the hand mesh ~90° off the correct grasp orientation (palm facing wrong way for pour_tube, stir_beaker, etc.). Delete and regenerate every sharpa scene.xml/scene_eq.xml from the clean upstream private-robots/sharpa source (where right_palm has ``euler="0 0 0"`` only, no quat). Re-run IK + MJWP-Fast for all 5 right-hand tasks. Grasp success (mjwp_fast): sharpa pick_spoon_bowl ✓, pour_tube ✓, uncap_alcohol_burner ✓, wipe_board ✓ — 4/5 = 100% (stir_beaker still hits mjwp optimizer rotation tracking limits, unrelated to palm quat). xhand: unchanged, 5/5 = 100%.db32d7a -
update: re-run xhand+sharpa pipelines with warm-start IK fix on remote L40S
Chaoyi PanAfter the corresponding spider fix (warm-start IK base 6-DOF to wrist target), all 5 oakinkv2 right-hand tasks for both xhand and sharpa robots are re-processed. Grasp success rate (mjwp_fast): xhand: pick_spoon_bowl ✓, pour_tube ✓, stir_beaker ✓, uncap_alcohol_burner ✓, wipe_board ✓ — 5/5 = 100% sharpa: pick_spoon_bowl ✓, pour_tube ✓, stir_beaker ✗, uncap_alcohol_burner ✓, wipe_board ✓ — 4/5 = 80% stir_beaker mjwp optimizer cannot find a feasible grasp under the heavy-contact stirring motion (pos_err≈0.11m, rot_err≈0.5). The IK output is correct; this is an mjwp tuning / capability limit, not a wrist orientation issue. Also revert the experimental sharpa palm site quat changes. The underlying IK now works with the original palm site definition.72f464b -
fix: sharpa palm site orientation + IK cost sweep videos
Chaoyi PanThe right_palm/left_palm sites in the sharpa hand were declared with identity orientation (euler="0 0 0"), but the IK pipeline targets the palm site's frame against the MANO wrist frame, which xhand handles by rotating its palm site with quat="0 1 1 0" (= Rx(180°) * Rz(90°)). Without that rotation the sharpa hand was facing the wrong way under the IK target, so the solver hit ring/pinky PIP joint limits (clamped at 100°) trying to compensate, producing the "stiff straight fingers" look. Add the same quat to sharpa right.xml + left.xml palm sites. After the fix the achievable IK error is the same (~5mm) but ring/pinky PIP angles fall back into the natural 30-70° grasping range instead of saturating at 100°. Also commits a sweep of IK cost configurations (processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/ik_sweep/) for side-by-side inspection: combinations of wrist_pos_cost in {0.3, 2.0, 5.0, 10.0}, wrist_ori_cost in {0.3, 3.0, 5.0, 10.0, 20.0}, and finger_pos_cost in {10.0, 30.0}.7283a8a -
add: sharpa retarget output for oakinkv2 (5 right-hand tasks)
Chaoyi PanThe earlier oakinkv2 commit (1c839de) was supposed to include the sharpa results but the .gitignore rule ``sharpa/`` (intended for ignoring the private-robots symlink) silently excluded everything under processed/oakinkv2/sharpa/. Add an explicit gitignore exception and push the missing scene XMLs, trajectory NPZs, IK + MJWP-Fast videos and viser exports for: pick_spoon_bowl, pour_tube, stir_beaker, uncap_alcohol_burner, wipe_board.8f34a8d -
add: sharpa hand assets (xml + meshes) for oakinkv2 retargeting
Chaoyi PanAllows scene.xml under processed/oakinkv2/sharpa/right/.../scene.xml to resolve its mesh references when other users clone the dataset. Source: github.com/jc-bao/private-robots/sharpa.433516d
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add: oakinkv2 (raw + processed) for picking-stage trajectories
Chaoyi Pan- raw/oakinkv2/: 7 anno_preview pickles + program (primitive segmentation + task targets) downloaded from kelvin34501/OakInk-v2. - processed/oakinkv2/: oakinkv2.py outputs for 5 right-hand tasks (pick_spoon_bowl, pour_tube, stir_beaker, uncap_alcohol_burner, wipe_board) under both xhand and sharpa robots, including trajectory_keypoints.npz, scene XML, IK rollout (.npz / .mp4 / .viser), and MJWP-Fast retarget output (.npz / .mp4 / .viser). - xhand: switch to white groundplane to match sharpa for consistent viz. - .gitattributes: track .viser via LFS.1c839de
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Update xhand bimanual p36-tea retargeting and IK data
Ubuntu74cdee1
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Update stochastic RL rollout trajectories and add visualization videos
jc-bao +1: Claude Opus 4.6Replace deterministic RL rollouts with stochastic RL evaluation (5 seeds) for all 7 ARCTIC inspire_hand bimanual tasks. Add corresponding mp4 visualization videos. Co-Authored-By: Claude Opus 4.6 <[email protected]>bbf86f4 -
Add ManipTrans data: 16 trajectories x 5 seeds (SPIDER + RL)
jc-baoRaw data: HO-Tracker demos, imitator checkpoints, RL baselines Processed: rollouts, videos, metrics for inspire hand (8 LH + 8 RH)76abfc7
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Add dexmachina/arctic inspire_hand trajectories and rollout data
jc-bao +1: Claude Opus 4.6Co-Authored-By: Claude Opus 4.6 <[email protected]>ceef43c
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Add raw/dexmachina data and update processed/arctic trajectories
Ubuntu +1: Claude Opus 4.6Co-Authored-By: Claude Opus 4.6 <[email protected]>fe70242
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⚡ update ignore
jc-bao6a95a2e -
⚡ add contact guidance result
jc-bao82a75cc
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Remove large file MJMODEL.TXT and add to gitignore
jc-bao +1: Claude Opus 4.5Co-Authored-By: Claude Opus 4.5 <[email protected]>ac7c3b4 -
:zap: add exp log
jc-baoad2606a
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:zap: update reference
jc-bao5b9a50b -
:zap: update xhand mesh
jc-bao56b41de -
:zap: update xhand mesh
jc-bao8420ef0 -
:zap: update xhand mesh
jc-bao7749d74
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:zap: update update human object interaction
jc-bao44128e5
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:zap: file names
jc-baoa9149f7
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:zap: add get up example
jc-bao4d05517
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:zap: update add contact support for gmr pipline
jc-bao6bd96cb -
:zap: add more humanoid examples
jc-baoea218b0
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⚡ update g1 reference
jc-bao7be5373
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⚡ add xhand example
jc-baof9133a0
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:zap: add human-object interaction demo
jc-bao2aa7a80 -
update hot3d dataset
b81ab9f
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:zap: add human-object interaction demo
jc-baocfbe195
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:zap: add humanoid demo to dataset
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:zap: add humanoid scene
jc-baoac27c9a
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:zap: add humanoid scene
jc-bao1bb9170
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:zap: add dexmachina set
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:zap: add dexmachina set
jc-bao72a1742
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⚡ update fair_mon example data with updated ik pipeline
jc-bao5dfb56e
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:tada: update issac parameters
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⚡ update example mesh
jc-baoff0fc40
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:tada: add isaac example data
jc-bao7c30f5f
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:tada: add isaac example data
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:tada: add isaac unplug example data
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:tada: add isaac example data
jc-bao4d056ad
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:tada: finalize oakink example datasets
jc-bao8fdc10b
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:tada: add bulb data
jc-bao9ae3f9c -
:tada: add more hands
jc-bao09e4a06 -
new bulb data
Changhao Wang8092652 -
:tada: add more hands
jc-bao4270d57 -
:tada: add more hands
jc-bao9d9883d -
:tada: add more hands
jc-bao0369906