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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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configs/project_env.example.sh
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#!/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.