Function compute_ground_penetration

mbench/motion_quality.py:172–210

Compute foot-floor penetration based on the foot joints.

(full_info_path: str, device: str, **kwargs)

    }

def compute_ground_penetration(full_info_path: str, device: str, **kwargs):
    """
    Compute foot-floor penetration based on the foot joints.
    """
    prompt_dict_ls = load_dimension_info(full_info_path, dimension='Ground_Penetration')
    
    penetration_list = []
    per_motion_metrics = []
    
    for prompt_dict in tqdm(prompt_dict_ls):
        evaluation_file = prompt_dict["evaluation_file"]
        pred_joints = load_joints(evaluation_file, device)
        
        delta_ts = 0.005  # 5mm tolerance
        floor_height = 0.0
        
        foot_pos = pred_joints[:, FOOT_IDX]  # (frames, 2, 3)
        foot_ground_height = foot_pos[:, :, 2] - floor_height
        
        # Compute penetration distance (below the ground)
        penetration_dist = torch.abs(foot_ground_height[foot_ground_height < -delta_ts])
        penetration_score = penetration_dist.mean() if penetration_dist.numel() > 0 else torch.tensor(0.0)
        penetration_value = penetration_score.item()
        
        penetration_list.append(penetration_value)
        per_motion_metrics.append(
            {
                "id": prompt_dict.get("id"),
                "prompt": prompt_dict.get("prompt"),
                "value": penetration_value,
                "evaluation_file": evaluation_file,
                "motion_duration": prompt_dict.get("motion_duration"),
            }
        )
    
    return {
        "aggregate": summarize_scores(penetration_list),
        "per_motion": per_motion_metrics,
    }

def compute_foot_floating(full_info_path: str, device: str, **kwargs):
    """