chore(mako): handfix keepers — clip-curl pose recipe, repair masks, fin_locate

pose_clipcurl_idle.json is the recipe for extracting a clip's pinned curl; the .txt files are the crosshand-repair vertex masks. The 230 MB of A/B bake GLBs and render dirs stay out as regenerable scratch (now gitignored); review/ evidence PNGs were already in the ignored tier. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
2026-08-18 12:08:41 -07:00
parent fb6cf9a2cb
commit e2403d4b3e
71 changed files with 58565 additions and 0 deletions
@@ -0,0 +1,246 @@
 {
 "_comment": "Finger rotations Idle_Loop (UAL1) pins on every body \u2014 extracted 2026-08-18 to show what the clips force on Mako's hand. NOT a library pose; a diagnostic.",
 "source": "UAL1.glb Idle_Loop frame 0",
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 }
 }
@@ -0,0 +1,61 @@
 """Cluster the worst-stretched edges by REST position to name the digit region."""
 import sys, os, math
 def load_obj(path):
    vs, faces = [], []
    with open(path) as f:
        for line in f:
            if line.startswith('v '):
                p = line.split()
                vs.append((float(p[1]), float(p[2]), float(p[3])))
            elif line.startswith('f '):
                idx = [int(tok.split('/')[0]) - 1 for tok in line.split()[1:]]
                for i in range(1, len(idx) - 1):
                    faces.append((idx[0], idx[i], idx[i + 1]))
    return vs, faces
 def edge_set(faces):
    es = set()
    for a, b, c in faces:
        for u, v in ((a, b), (b, c), (c, a)):
            es.add((u, v) if u < v else (v, u))
    return sorted(es)
 def dist(p, q):
    return math.sqrt(sum((p[i]-q[i])**2 for i in range(3)))
 d = sys.argv[1]
 for hand in ('l', 'r'):
    rest_v, rest_f = load_obj(os.path.join(d, f'rest_hand_{hand}.obj'))
    edges = edge_set(rest_f)
    xs = sorted(v[0] for v in rest_v)
    print(f'hand_{hand}: rest x range {xs[0]*100:.1f}..{xs[-1]*100:.1f} cm, '
          f'y range {min(v[1] for v in rest_v)*100:.1f}..{max(v[1] for v in rest_v)*100:.1f}, '
          f'z range {min(v[2] for v in rest_v)*100:.1f}..{max(v[2] for v in rest_v)*100:.1f}')
    for pose in ('fist', 'grip'):
        v, _ = load_obj(os.path.join(d, f'{pose}_hand_{hand}.obj'))
        bad = []
        for a, b in edges:
            rl = dist(rest_v[a], rest_v[b])
            if rl <= 1e-9:
                continue
            r = dist(v[a], v[b]) / rl
            if r > 5:
                bad.append((r, a))
        # bounding box of bad verts in rest space
        pts = [rest_v[a] for _, a in bad]
        if not pts:
            print(f'  {pose}: no >5x edges')
            continue
        bx = (min(p[0] for p in pts)*100, max(p[0] for p in pts)*100)
        by = (min(p[1] for p in pts)*100, max(p[1] for p in pts)*100)
        bz = (min(p[2] for p in pts)*100, max(p[2] for p in pts)*100)
        cx = sum(p[0] for p in pts)/len(pts)*100
        cy = sum(p[1] for p in pts)/len(pts)*100
        cz = sum(p[2] for p in pts)/len(pts)*100
        print(f'  {pose}: {len(bad)} edges>5x  rest-bbox x[{bx[0]:.1f},{bx[1]:.1f}] '
              f'y[{by[0]:.1f},{by[1]:.1f}] z[{bz[0]:.1f},{bz[1]:.1f}]  centroid ({cx:.1f},{cy:.1f},{cz:.1f}) cm')
        # z-histogram (palm axis?) to see if it's one digit or spread
        zs = sorted(p[2]*100 for p in pts)
        q = lambda f: zs[int(f*(len(zs)-1))]
        print(f'        rest z quartiles: {q(0):.1f} / {q(0.25):.1f} / {q(0.5):.1f} / {q(0.75):.1f} / {q(1):.1f}')