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

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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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UPSTREAM_SOURCES.json
+15 -1
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@@ -30,7 +30,7 @@
"path": "third_party/Dyn-HaMR",
"commit": "fa9cd7412c205fd15ee4139c8caacf79bf6167e6",
"origin": "https://github.com/ZhengdiYu/Dyn-HaMR.git",
"local_changes": "M dyn-hamr/HMP/fitting.py\n M dyn-hamr/data/vidproc.py\n M dyn-hamr/optim/base_scene.py\n M dyn-hamr/run_opt.py\n?? dyn-hamr/HMP/windowed.py\n?? third-party/Hand-BMC-pytorch-main/",
"local_changes": "M dyn-hamr/HMP/fitting.py\n M dyn-hamr/data/vidproc.py\n M dyn-hamr/optim/base_scene.py\n M dyn-hamr/run_opt.py\n M dyn-hamr/vis/tools.py\n M dyn-hamr/vis/viewer.py\n?? dyn-hamr/HMP/windowed.py\n?? third-party/Hand-BMC-pytorch-main/",
"snapshot": "working tree content; tracked files plus source additions"
},
{
@@ -65,7 +65,21 @@
"path": "third_party/spider",
"commit": "71238456bf97a7eeb3d0471aa31974e2d404d4ae",
"origin": "https://github.com/facebookresearch/spider.git",
"local_changes": "M examples/run_mjwp.py\n M spider/optimizers/sampling.py\n M spider/simulators/mjwp.py",
"snapshot": "working tree content; tracked files plus source additions"
},
{
"path": "third_party/FoundationPose",
"commit": "a1b694b83e633c2cb6115b9063d940a687759392",
"origin": "https://github.com/NVlabs/FoundationPose.git",
"local_changes": "",
"snapshot": "working tree content; tracked files plus source additions"
},
{
"path": "third_party/nvdiffrast",
"commit": "253ac4fcea7de5f396371124af597e6cc957bfae",
"origin": "https://github.com/NVlabs/nvdiffrast.git",
"local_changes": "?? build/\n?? nvdiffrast.egg-info/",
"snapshot": "working tree content; tracked files plus source additions"
}
]