Update to 2026-09-17 pipeline snapshot; add weights, L20 assets and recording via Git LFS

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>

README.md

@@ -1,15 +1,20 @@
 # Hand Motion Pipeline：Dyn-HaMR · dex-retargeting · SPIDER
 
-在 HandFlow 工作区中集成单目人手重建、L20 右手重定向、接触优化实验和 HDF5 轨迹导出。
+在 HandFlow 工作区中集成 RGB-D / 单目人手重建（Dyn-HaMR、HandFlow）、L20 左右手重定向、FoundationPose 物体跟踪、手物参考修复、SPIDER 接触优化实验和 HDF5 轨迹导出。
 
 ```text
-视频 → Dyn-HaMR / HandFlow + ViPE → 人手世界轨迹
-     → dex-retargeting + L20 模型约束 → 机器人腕部与关节轨迹
-     → SPIDER 接触引导实验 / 完整运动学回放 → HDF5
+D405 RGB-D 视频 → 静态背景里程计 → Dyn-HaMR 双手世界轨迹（也可 HandFlow / ViPE 单目分支）
+     → dex-retargeting + L20 左右手 URDF → 机器人腕部与关节轨迹
+     → FoundationPose 物体 6D 跟踪 → 手物配准 → 碰撞修复 / 桌面约束 / 平滑投影 → 运动学参考
+     → SPIDER 接触引导物理滚动（MuJoCo Warp）→ 审计 / 回放 / HDF5
 ```
 
 ## 从这里开始
 
+- **[最新流程（RGB-D 双手 → Dyn-HaMR → L20 重定向 → FoundationPose → 参考修复 → SPIDER）](docs/PIPELINE_LATEST.md)** ← 当前交付链路，按此执行
+- [安装依赖、环境与权重下载](docs/SETUP_AND_WEIGHTS.md) ← 部署先看这个
+- 克隆本仓库后：`git lfs pull && python3 scripts/large_files.py assemble`（大于 50 MB 的权重是分片存放的，见 SETUP §4.0）
+- [环境变量配置模板](configs/project_env.example.sh)
 - [集成结构、环境、运行顺序与上传步骤](docs/INTEGRATED_PROJECT.md)
 - [重定向方法、验证与限制](docs/retargeting_workflow_and_lessons_zh.md)
 - [HDF5 原始接口要求](docs/HDF5_REQUIREMENTS.md)：原文为左手；当前导出为明确标记的右手变体。