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>
2026-09-17 11:27:46 +08:00
parent 7e4ef6f98b
commit ae28d55f81
761 changed files with 55598 additions and 59 deletions
@@ -0,0 +1,30 @@
+{
+  "source": "community mirror gpue/foundationpose-weights; official Google Drive quota exceeded",
+  "verification": "size and mirror LFS SHA256; not independently compared to official files",
+  "files": [
+    {
+      "path": "2023-10-28-18-33-37/config.yml",
+      "size": 708,
+      "sha256": "28a6ba94a33230ee5fc3c51939486281578b0972542bd9e38ca6123e75605686",
+      "url": "https://hf-mirror.com/gpue/foundationpose-weights/resolve/main/2023-10-28-18-33-37/config.yml"
+    },
+    {
+      "path": "2023-10-28-18-33-37/model_best.pth",
+      "size": 68220109,
+      "sha256": "774700586ddc435d408fc01c9809c43e151232936369dfbea0f0f964ba471d60",
+      "url": "https://hf-mirror.com/gpue/foundationpose-weights/resolve/main/2023-10-28-18-33-37/model_best.pth"
+    },
+    {
+      "path": "2024-01-11-20-02-45/config.yml",
+      "size": 778,
+      "sha256": "a79db4de3b95885dd5ae86833b37b8698a75dad81e87d1086cd50b2fcd8dda3f",
+      "url": "https://hf-mirror.com/gpue/foundationpose-weights/resolve/main/2024-01-11-20-02-45/config.yml"
+    },
+    {
+      "path": "2024-01-11-20-02-45/model_best.pth",
+      "size": 190229389,
+      "sha256": "81924d384bf5c26c646ee4783104982ae3d1e049c181c36641b6a7aeae494c26",
+      "url": "https://hf-mirror.com/gpue/foundationpose-weights/resolve/main/2024-01-11-20-02-45/model_best.pth"
+    }
+  ]
+}
@@ -0,0 +1,65 @@
+{
+  "chunk_bytes": 50331648,
+  "files": [
+    {
+      "path": "third_party/hamer/_DATA/hamer_ckpts/checkpoints/hamer.ckpt",
+      "bytes": 2689536166,
+      "sha256": "e5cc06f294d88a92dee24e603480aab04de532b49f0e08200804ee7d90e16f53",
+      "parts": 54
+    },
+    {
+      "path": "weights/unidepth-v2-vitl14/model.safetensors",
+      "bytes": 1415383604,
+      "sha256": "ba73d3de735302ccc64a50f1e557122050c4b1893e6060b28dba05d6af3e67c6",
+      "parts": 29
+    },
+    {
+      "path": "weights/handflow_denoiser.pt",
+      "bytes": 667907131,
+      "sha256": "2fbc4e1fa7a60f469a6ac94933a6e6dc8a86a0e1fc13bd7cd81c430c79acfcda",
+      "parts": 14
+    },
+    {
+      "path": "weights/detector.pt",
+      "bytes": 53582271,
+      "sha256": "5ef3df44e42d2db52d4ffe91f83a22ce9925e2acc9abebf453f2c5d22e380033",
+      "parts": 2
+    },
+    {
+      "path": "third_party/Dyn-HaMR/_DATA/hmp_model/results/model/optimizer.pth",
+      "bytes": 541530298,
+      "sha256": "ea48b2b6d4a8bebff41b72a6f034db5506b488c8b4f114709c58b67953d2ce8d",
+      "parts": 11
+    },
+    {
+      "path": "third_party/Dyn-HaMR/_DATA/hmp_model/results/model/local_encoder.pth",
+      "bytes": 161190688,
+      "sha256": "89db49f42b98986121ff0b2152b89c045f6d66945434bf38e6f21981e70ea82b",
+      "parts": 4
+    },
+    {
+      "path": "third_party/Dyn-HaMR/_DATA/hmp_model/results/model/nemf.pth",
+      "bytes": 92620900,
+      "sha256": "cbb9d5bae07de807c13f02128b18e1b7b5f31e6626bdda16b800e636753004ff",
+      "parts": 2
+    },
+    {
+      "path": "third_party/Dyn-HaMR/dyn-hamr/optim/BMC/joint_angles.npy",
+      "bytes": 90116528,
+      "sha256": "92c96d1899aa290542cf31af322ba53811afd914258f1367fb41e2aeaa6e0b62",
+      "parts": 2
+    },
+    {
+      "path": "third_party/FoundationPose/weights/2024-01-11-20-02-45/model_best.pth",
+      "bytes": 190229389,
+      "sha256": "81924d384bf5c26c646ee4783104982ae3d1e049c181c36641b6a7aeae494c26",
+      "parts": 4
+    },
+    {
+      "path": "third_party/FoundationPose/weights/2023-10-28-18-33-37/model_best.pth",
+      "bytes": 68220109,
+      "sha256": "774700586ddc435d408fc01c9809c43e151232936369dfbea0f0f964ba471d60",
+      "parts": 2
+    }
+  ]
+}
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+# Source from any directory: source /path/to/project/configs/project_env.example.sh
+export HANDFLOW_PROJECT_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+export TORCH_HOME="$HANDFLOW_PROJECT_ROOT/.torch_cache"
+export HF_HOME="$HANDFLOW_PROJECT_ROOT/.hf_cache"
+export WARP_CACHE_PATH="$HANDFLOW_PROJECT_ROOT/.spider_cache/warp"
+export TORCHINDUCTOR_CACHE_DIR="$HANDFLOW_PROJECT_ROOT/.spider_cache/torchinductor"
+export VIPE_ROOT="$HANDFLOW_PROJECT_ROOT/third_party/vipe"
+export VIPE_PYTHON="$HANDFLOW_PROJECT_ROOT/.venv/bin/python"
+export HAMER_CKPT="$HANDFLOW_PROJECT_ROOT/third_party/hamer/_DATA/hamer_ckpts/checkpoints/hamer.ckpt"
+export MANO_ROOT="$HANDFLOW_PROJECT_ROOT/third_party/hamer/_DATA/data/mano"
+export DETECTOR_CKPT="$HANDFLOW_PROJECT_ROOT/weights/detector.pt"
+export HANDFLOW_NORMALIZATION_STATS="$HANDFLOW_PROJECT_ROOT/weights/normalization_stats.npz"
+export MUJOCO_GL="${MUJOCO_GL:-osmesa}"
+# Offline flags intentionally unset here: populate caches before offline inference.
+# Dyn-HaMR also uses its own _DATA tree and Hydra paths; see SETUP_AND_WEIGHTS.md.