eyiSrSSKrSSKrSSKJr SSKrSSKJs Jr SSK r SSK r SSK Jr SSKrSSKrSSKrSSKrSSKrSSKJr \R0R3S\R0R5\R0R7\5S55 \R0R3S\R0R7\55 SSKJrJr SSK J!r!J"r"J#r#J$r$J%r% SSK&J'r' SS K(J)r) SS K*J+r+ SS K,J-r-J.r.J/r/J0r0J1r1 SS K2J3r3 S r4Sr5\ Rl"/SQ/SQ/SQ/SQ/SQ/5S- r7Sr8\7\8r9\ Rl"/SQ5r:\ Rl"/SQ5r;SrSSjr?\44Sjr@SrA\BS:Xa\A"5 gg) zYLive test trajectory predictions with 3D lifting and IK visualization from camera stream.N)Path)Rotationz..)N_WINDOWproject_3d_to_2d)TrajectoryHeatmapPredictor MIN_HEIGHT MAX_HEIGHT MIN_GRIPPER MAX_GRIPPER)GridSpec)SO100AdhesiveConfig)EXOSKELETON_CONFIGS)get_link_poses_from_robotposition_exoskeleton_meshesrender_from_camera_posedetect_and_set_link_posesestimate_robot_state)Armiz1real_dino_tracks/checkpoints/real_tracks/best.pth)*@{GVg/@)g ףp=%@gfffffXr)rrg/)g(\1@g= ףpTr)g\(6@g= ףpQrg@@)g2(g݃c؁gkԅPɒ?)g8:!𗑿gMkg(!u?gB6 ?ct[RRU5SS2S4n[RRU5n[R"USUSS/5nXE-n[RRU5SS2SS24nXv-nU[RR U5- nX84$)aBUnproject 2D point to camera ray in world coordinates. Args: point_2d: (2,) 2D pixel coordinates camera_pose: (4, 4) camera pose matrix (world-to-camera) cam_K: (3, 3) camera intrinsics Returns: cam_pos: (3,) camera position in world frame ray_direction: (3,) normalized ray direction in world frame Nrr?)nplinalginvarraynorm) point_2d camera_posecam_K cam_pos_worldK_inv point_2d_hray_cam cam_rot_world ray_worlds /real_dino_tracks/waypoint_live_test_model_ik.pyunproject_2d_to_rayr*1sIIMM+.rr1u5M IIMM% E8A; S9:J GIIMM+.rr2A2v6M'IBIINN955I  ##c~[XU5upE[US5S:agXS- US- nUS:agXFU--nU$)a!Recover 3D keypoint from 2D projection and height. Args: kp_2d_image: (2,) 2D pixel coordinates height: height (z-coordinate in world frame) camera_pose: (4, 4) camera pose matrix cam_K: (3, 3) camera intrinsics Returns: (3,) 3D keypoint position, or None if invalid gư>Nr)r*abs) kp_2d_imageheightr!r"cam_pos ray_directiontpoint_3ds r)*recover_3d_from_direct_keypoint_and_heightr5Ms`15QG = t# !*  a 00A1u]**H Or+c[U5S:aUR5$/n[[U5S- 5HcnXnXS-nURUR55 UR5n[ USUS5US'URU5 Me URUSR55 [ R "U5$)aInsert intermediate waypoints between each consecutive pair of trajectory points. For each pair (start, end), creates an intermediate waypoint with: - X, Z coordinates from the end point - Height (Z coordinate) = max(start_height, end_height) Args: trajectory_3d: (N, 3) array of 3D points [x, y, z] where z is height Returns: (2*N-1, 3) array with intermediate waypoints inserted r-r)lencopyrangeappendmaxrr) trajectory_3dexpandedistartend intermediates r)insert_intermediate_waypointsrCls =A!!##H 3}%) * E"  %xxz eAhA/ Q %+ OOM"%**,- 88H r+c fSnSn[U5GH n[R"X5 URUR5 [ R "SSSSS9n U R[ R"[R"XC/5S95 [ R"USS 9n U RUR5 [ R"X)U /US [ R"US 9/S 9n URX5 URURS S &[R"X5 GM# [R "U[R"R$S5n UR&U n X=- n[R(R+U5nURR-5U4$)zRun IK to move virtual gripper keypoint to maintain offset from cube. Returns: optimized_qpos: (nq,) array of optimized joint positions final_error: scalar error in meters {Gz?rvirtual_gripper_keypointbodygMbP?) position_costorientation_cost)wxyz_xyzg-C6?)costdaqp)model)limitsN)r:mujoco mj_forwardupdateqposmink FrameTask set_targetSE3r concatenate PostureTasksolve_ikConfigurationLimitintegrate_inplaceq mj_name2idmjtObj mjOBJ_BODYxposrrr9)rMdata configuration target_postarget_kp_quat_wxyznum_iterationsdtdamping iterationkp_task posture_taskvel kp_body_idcurrent_kp_pos pos_error error_norms r)ik_to_cube_grasprps[ BG>* %&TYY'..!;VSVino488R^^=P<]-^_`''D9  *mmM\+BBX\XoXov{X|W}~''0$ !  %&'+,""5&--*B*BD^_JYYz*N+I *J 99>> Z ''r+c0UR5S:a"UR[R5S- nURSSup#X!:wdX1:wa%[ R "XU4[ RS9n[R"U5RSSS5R5n[R"/SQ5RS SS5n[R"/S Q5RS SS5nXE- U- nUR5nXG4$) zPreprocess RGB image for model input. Args: rgb: (H, W, 3) RGB image in [0, 255] or [0, 1] image_size: Target image size Returns: rgb_tensor: (3, H, W) normalized tensor rgb_vis: (H, W, 3) visualization image in [0, 1] rgo@Nr- interpolationrr)g ףp= ?gv/?gCl?r)gZd;O?gy&1?g?)r<astyperfloat32shapecv2resize INTER_LINEARtorch from_numpypermutefloattensorviewr9)rgb image_sizeH_origW_orig rgb_tensormeanstdrgb_viss r)preprocess_imagers wwy3jj$u,YYr]NFv3jj:6cFVFVW!!#&..q!Q7==?J <<- . 3 3Aq! nS?n[<R>RAU5(aFURB(d5[E[FR*"[IUS@555n[!SA5 O[!SBUSC35 S n[JRL"/SDQ5n URO5n URQU S SE9 URO5n [JRR"[JRT"X- 55SF:aOU n ME[!SG5 [W5n [XRZR]U R^5n [XR`"U 5n[bRd"URf5nURi5(d[kSHURf35eURm5unnU(dURm5unnU(dM[bRn"U[bRp5nURrSSIunn[!SJUSKU35 Sn[!SL5 [!SM5 [!SN5 S[tl;S>n[xRx"5nURm5unnU(d [!SO5 M=[bRn"U[bRp5nSnU(aUURB(dDURO5nU=URzSS&UR|SS&[XR~"X5 [UXU USP9unnnnnn[XUU5 U(dJ[XU USQSR9nUR=URzSS&UR|SS&[XR~"X5 UbUc[!SY5 GMG[UR5[&5un"n#[XU5SZn$U$SS[2SS[24n%U$SS[2S[4n&U%[-U&-n'[U'UU5n(U(c[!S\5 GM[&U- n)[&U- n*U([JRL"U)U*/5-n+U'SIn,URO5n[US]5n-S S^KQJRn. 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All height predictions will be constant!zR Please recompute from dataset or use a newer checkpoint with height range saved. min_gripper max_gripperu+✓ Loaded gripper range from checkpoint: []zS (Regression: [-0.2, 0.8], values >4.0 mapped to -0.2, values >0.8 clamped to 0.8)u4⚠ Checkpoint doesn't have min_gripper/max_gripper!z/ Using default regression values: MIN_GRIPPER=z, MAX_GRIPPER=u✓ Loaded model from epoch epochTz-robot_models/arm_offsets/rescrew2_fromimg.pklrbu5✓ Connected to robot for direct joint state readingu%⚠️ Calibration file not found at z(, falling back to image-based estimation)gm?g1>[@gb]f?gX ;O?g2BO?gc!YV?)slowrEzdone moving to high positionzFailed to open camera device r-zCamera resolution: xz= ============================================================z*Live inference started. Press 'q' to quit.z<============================================================z Failed to read frame from camera)r"#) ik_iterationszError detecting link poses: r) segmentationrrg?uA⚠️ Could not detect camera pose or intrinsics, skipping frame fixed_gripperru6⚠️ Starting keypoint behind camera, skipping framer7)process_gripper_value)dtype)gt_target_heatmaptrainingstart_keypoint_2dcurrent_heightcurrent_gripper)dimprinted_intrinsicsz Debug - Intrinsics scaling:z Original cam_K (at z): fx=)rrz, fy=)rrz, cx=)rr-z, cy=)rr-z Normalized cam_K_norm: fx=z.4fz Scaled cam_K_model (at u✗ Failed to lift waypoint z to 3Dggg333333?)ryzrru⚠️ Waypoint z 3D target out of workspace: z Using previous waypoint: u9⚠️ Could not lift any waypoints to 3D, skipping framezM Inserting intermediate waypoints (X,Z from target, height=max(start,end))...u✓ Expanded trajectory from z to z waypointsu ✓ Expanded gripper array from z values)reg?u ⚠️ t=z: IK error too large (z& mm), using previous timestep's resultrFrBoriginalz t=z (z): 3D=[z ] m, IK err=z mmu(✓ Sequential IK complete - Avg error: )figsize)rr?rrg?)figure height_ratioshspacewspace-lime)color linewidthalphadPred )csmarker linewidthslabelzorderz--)rr linestylerr)rrrrrzt=z H: zmm | G: )fontsizeoffz upper right)locrz Final IK (t=z) Err: z.1fmmgY@g?hotbilinear)rcmaprsz Heatmap t=gray)rrr-gffffff?)rrrMinMax-right)rrotationhaz Height (mm)zH: )raxiszo-blue)rr markersizerzMin H)rrrrrrzMax HTimestepzHeight Trajectory)rzs-redGripperzMin GgreenzMax G)rr)r labelcolorzG: )rrrzGripper TrajectoryzIK t=z Err: z IK Error (mm)zIK Error Trajectoryg333333?u;Live Trajectory Prediction → 3D Lifting → Sequential IKbold)r fontweightg{Gz?g\(\?gQ?)leftrtopbottomrrprev_fig)timeoutzWrite to robot? (y/n): z still movinggQ?z# Live inference interrupted by userallu ✓ Live inference complete!)argparseArgumentParser add_argumentstrCHECKPOINT_PATHintlistrkeys parse_argsrzdevicebackendsr is_availablerprint checkpointr IMAGE_SIZErloadload_state_dicttoevalrMrr r r ospathexistsno_armrpickleopenrrget_pos write_posr<r.r rOMjModelfrom_xml_stringxmlMjDatarw VideoCapturecameraisOpened RuntimeErrorreadcvtColor COLOR_BGR2RGBrvmainrtimerRctrlrPrrrr\ Exceptionrrxryr9pltimshowshowrrkp_localrr}rarno_grad unsqueezer{r~rur:Fsoftmaxrview_asrnumpyr; unravel_indexargmaxhasattrrr5r8rCrS ConfigurationrQrpinitial_kp_quat_wxyz num_ik_itersr]r^r_r`rrrdont_visualize no_renderrr cmviridislinspace add_subplotplotscatteraxvlineaxhline set_titlerlegendbar set_alpha set_xticksset_xticklabels set_ylabelgridset_ylimarange set_xlabeltwinx tick_paramsminsuptitlesubplots_adjustdrawpauseclosewaitforbuttonpresssleep ask_for_writeinput enumerateKeyboardInterruptrelease)uparserargsrrMr model_modulearmuse_robot_state calib_path start_poslast_poscurr_pos robot_configmj_modelmj_datacapretframerr0widthr" first_writeframe_start_timecamera_pose_world joint_state link_poses corners_cache corners_vis obj_img_ptsrberendered_img_gtrrrgb_vis_resizedfixed_gripper_pose gripper_rot gripper_pos kp_3d_start kp_2d_startscale_xscale_yrrcurrent_gripper_rawrr rgb_batchstart_keypoint_tensorcurrent_height_tensorcurrent_gripper_tensor pred_logits pred_height pred_gripperpred_trajectory_2d pred_heatmapsr3 pred_logits_t pred_probs_tpred_ypred_x pred_2d_t cam_K_norm cam_K_modelpred_trajectory_3d pred_height_t pred_3d_tworkspace_boundspred_trajectory_3d_expanded n_waypointspred_gripper_expanded n_originalr?orig_idxcurrent_joint_stateik_trajectory_qpos ik_errors current_qposoptimized_qposik_error max_ik_errorrlrm waypoint_type render_res render_cam_Krendered_img_final overlay_finalfiggs rgb_vis_trajcolorsaxt_prev height_val gripper_valax_ik ax_heatmap_ikheights_to_show colors_barx_posbarsax_height_traj timestepsax_gripper_traj gripper_vals n_ik_rendersrendered_img_t overlay_t ax_ik_trajelapsed sleep_timetraj_itarg_pos pred_gripdeltasu r)rrss  $ $1n oF ),BD S/68  a;= (sB57  <JL c3C#$7$<$<$>?>@ *<vx  lwy    D\\5>>#5#5#B#B#D#D%#(::#:#:#<#<%IF N6( #$ !$//!2# 67 &:bg hEDOO&AJ *%789 HHV E JJL z!lj&@",\": ",\":  ::l;STW:XXZ[efr[stwZxx{|} J|,T1#6fZ =UVZ=Z[^<__bcd BD 5l6M6Mc5RR_`l`w`wx{_|}~  " "l&=&= = e g f h "} 'B#-m#<  #-m#<   ;J}? 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