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

Browse Source 
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>
This commit is contained in:
liyang
2026-09-17 11:27:46 +08:00
parent 7e4ef6f98b
commit ae28d55f81
761 changed files with 55598 additions and 59 deletions
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d2fa891db989182dc4f83f1bf73694610d59341d5d6894bcba44562fe00bdbff third_party/spider/spider/simulators/maniptrans.py
8af27b1e6b876f8ede9d657840dea63f65e83816a93da55bade476e41fe46977 third_party/spider/spider/simulators/maniptrans_test.py
b414105e5fd276e92ea347a69b529cd21a65a59a198cb2b40406ebdf7644ed66 third_party/spider/spider/simulators/mjwp.py
9cf471565802d55500bc8990c1e2117e963169b6d0242bf38df1c28d0ccbcc81 third_party/spider/spider/simulators/mjwp.py
08e5dbe18ea495625aeabee6351cc2a81fb458da6a85fa11638bb1b16461b2a8 third_party/spider/spider/simulators/mjwp_eq.py
9746ccde567081321d0d549e471c6445ca7669fdbfa0b460988e744fdb69a1c1 third_party/spider/spider/simulators/mjwp_test.py
c76e1502bb50a2280eac7e673fe3891444a348a20860bbf79d12f35a2c28d0eb third_party/spider/spider/tasks/__init__.py