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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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requirements/pipeline_venv.txt
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# Main environment (.venv) for the RGB-D pipeline: FoundationPose, RGB-D preprocessing, hand/object registration,
# collision fix / audits / rendering, Dyn-HaMR launcher and playback. Observed versions on the reference machine
# (Python 3.11.15, Ubuntu 22.04, CUDA 12.8) — pins, not a cross-platform lock.
#
# Install order:
# 1. torch==2.7.1 torchvision==0.22.1 --index-url https://download.pytorch.org/whl/cu128 (must match driver/CUDA)
# 2. pip install -r requirements/pipeline_venv.txt
# 3. pip install --no-build-isolation git+https://github.com/facebookresearch/pytorch3d.git@stable (needs nvcc; observed 0.7.9)
# 4. pip install --no-build-isolation --no-deps ./third_party/nvdiffrast (needs nvcc; snapshot 0.4.0)
# 5. build FoundationPose mycpp (see docs/SETUP_AND_WEIGHTS.md)
numpy==2.4.4
scipy==1.17.1
opencv-python==5.0.0.93
trimesh==4.12.2
coacd==1.0.14
open3d==0.19.0
kornia==0.8.3
omegaconf==2.3.1
hydra-core==1.3.2
imageio==2.37.3
imageio-ffmpeg==0.6.0
pillow==12.2.0
matplotlib==3.11.0
pandas==3.0.5
scikit-learn==1.9.1
joblib==1.6.0
h5py==3.16.0
PyYAML==6.0.3
ruamel.yaml==0.19.1
transformations==2026.1.18
pyrender==0.1.45
PyOpenGL==3.1.0
PyOpenGL-accelerate==3.1.10
psutil==7.2.2
tqdm==4.68.3
requests==2.34.2
mujoco==3.5.0
mujoco-warp==3.5.0
warp-lang==1.14.0
glfw==2.10.0
smplx==0.1.28
einops==0.8.2
timm==1.0.29
huggingface-hub==0.28.1
safetensors==0.8.0
ninja==1.13.2
pybind11==3.1.0
requirements/runtime_observed.json
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{
"handflow": {
"python": "3.11.15",
"torch": "2.7.1+cu128",
"torchvision": "0.22.1+cu128",
"numpy": "2.4.4",
"scipy": "1.17.1",
"mujoco": "3.5.0",
"mujoco-warp": "3.5.0",
"warp-lang": "1.14.0",
"pytorch3d": "0.7.9",
"ultralytics": "8.4.147"
},
"dynhamr": {
"python": "3.10.12",
"torch": "2.7.0+cu128",
"torchvision": "0.22.0+cu128",
"numpy": "2.2.6",
"scipy": "1.15.3",
"ultralytics": "8.1.34"
},
"retarget": {
"python": "3.11.15",
"torch": "2.7.1+cu128",
"torchvision": "0.22.1+cu128",
"numpy": "2.4.6",
"scipy": "1.17.1",
"mujoco": "3.5.0",
"mujoco-warp": "3.5.0",
"warp-lang": "1.14.0",
"dex-retargeting": "0.5.0",
"pytorch3d": "0.7.9",
"ultralytics": "8.4.147"
},
"spider": {
"python": "3.11.15",
"torch": "2.7.1+cu128",
"torchvision": "0.22.1+cu128",
"numpy": "2.4.4",
"scipy": "1.17.1",
"mujoco": "3.7.0",
"mujoco-warp": "3.7.0.1",
"warp-lang": "1.12.1",
"ultralytics": "8.4.147"
},
"pipeline_venv": {
"python": "3.11.15",
"torch": "2.7.1+cu128",
"torchvision": "0.22.1+cu128",
"pytorch3d": "0.7.9",
"nvdiffrast": "0.4.0 (third_party/nvdiffrast @ 253ac4f)",
"mujoco": "3.5.0",
"mujoco-warp": "3.5.0",
"warp-lang": "1.14.0",
"numpy": "2.4.4",
"scipy": "1.17.1",
"opencv-python": "5.0.0.93",
"trimesh": "4.12.2",
"coacd": "1.0.14",
"open3d": "0.19.0",
"kornia": "0.8.3",
"cuda_toolkit": "12.8 (project-local .cuda/usr/local/cuda-12.8)",
"foundationpose": "third_party/FoundationPose @ a1b694b, mycpp built",
"note": "same interpreter as the 'handflow' role; used by all scripts/ in docs/PIPELINE_LATEST.md except retarget (.dex) and SPIDER (.spider)"
}
}
requirements/spider_installed_local.txt
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blinker==1.9.0
comm==0.2.3
configargparse==1.7.7
daqp==0.9.1
dash==4.4.1
debugpy==1.8.21
fastjsonschema==2.22.2
flask==3.1.3
google-auth==2.58.0
google-auth-oauthlib==1.4.1
gspread==6.2.1
ipdb==0.13.13
ipykernel==7.3.0
ipywidgets==8.1.9
itsdangerous==2.2.0
janus==2.0.0
joblib==1.6.0
jsonschema==4.26.0
jsonschema-specifications==2025.9.1
jupyter-client==8.10.0
jupyter-core==5.9.1
jupyterlab-widgets==3.0.17
loguru==0.7.3
loop-rate-limiters==1.2.0
mink==1.1.0
mujoco==3.7.0
mujoco-warp==3.7.0.1
narwhals==2.26.0
nbformat==5.11.1
nest-asyncio==1.6.0
nest-asyncio2==1.7.2
oauthlib==3.3.1
open3d==0.19.0
plotly==7.0.0
pyarrow==25.0.1
pyasn1==0.6.4
pyasn1-modules==0.4.2
pymeshlab==2023.12.post3
pyquaternion==0.9.9
pyzmq==27.2.0
qpsolvers==4.13.0
referencing==0.37.0
requests-oauthlib==2.0.0
rerun-sdk==0.26.2
retrying==1.4.2
rpds-py==2026.6.3
scikit-learn==1.9.1
threadpoolctl==3.6.0
tornado==6.5.8
warp-lang==1.12.1
widgetsnbextension==4.0.16
requirements/spider_resolved.txt
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# This file was autogenerated by uv via the following command:
# uv pip compile /tmp/spider_no_torch.txt --constraint /tmp/spider_existing_constraints.txt --python .spider/bin/python -o /tmp/spider_resolved.txt
absl-py==2.5.0
# via
# -c /tmp/spider_existing_constraints.txt
# mujoco
# mujoco-warp
addict==2.4.0
# via
# -c /tmp/spider_existing_constraints.txt
# open3d
annotated-types==0.7.0
# via
# -c /tmp/spider_existing_constraints.txt
# pydantic
antlr4-python3-runtime==4.9.3
# via
# -c /tmp/spider_existing_constraints.txt
# hydra-core
# omegaconf
anyio==4.15.1
# via
# -c /tmp/spider_existing_constraints.txt
# httpx
asttokens==3.0.1
# via
# -c /tmp/spider_existing_constraints.txt
# stack-data
attrs==26.1.0
# via
# -c /tmp/spider_existing_constraints.txt
# jsonschema
# referencing
# rerun-sdk
blinker==1.9.0
# via flask
certifi==2026.6.17
# via
# -c /tmp/spider_existing_constraints.txt
# httpcore
# httpx
# requests
cffi==2.0.0
# via
# -c /tmp/spider_existing_constraints.txt
# cryptography
charset-normalizer==3.4.7
# via
# -c /tmp/spider_existing_constraints.txt
# requests
click==8.4.2
# via
# -c /tmp/spider_existing_constraints.txt
# flask
# huggingface-hub
cloudpickle==3.1.2
# via
# -c /tmp/spider_existing_constraints.txt
# joblib
comm==0.2.3
# via
# dash
# ipykernel
# ipywidgets
configargparse==1.7.7
# via open3d
contourpy==1.3.3
# via
# -c /tmp/spider_existing_constraints.txt
# matplotlib
cryptography==49.0.0
# via
# -c /tmp/spider_existing_constraints.txt
# google-auth
cycler==0.12.1
# via
# -c /tmp/spider_existing_constraints.txt
# matplotlib
daqp==0.9.1
# via qpsolvers
dash==4.4.1
# via open3d
debugpy==1.8.21
# via ipykernel
decorator==5.3.1
# via
# -c /tmp/spider_existing_constraints.txt
# ipdb
# ipython
docstring-parser==0.18.0
# via
# -c /tmp/spider_existing_constraints.txt
# tyro
etils==1.14.0
# via
# -c /tmp/spider_existing_constraints.txt
# mujoco
# mujoco-warp
executing==2.2.1
# via
# -c /tmp/spider_existing_constraints.txt
# stack-data
fastjsonschema==2.22.2
# via nbformat
filelock==3.29.0
# via
# -c /tmp/spider_existing_constraints.txt
# huggingface-hub
flask==3.1.3
# via
# dash
# open3d
fonttools==4.63.0
# via
# -c /tmp/spider_existing_constraints.txt
# matplotlib
fsspec==2026.4.0
# via
# -c /tmp/spider_existing_constraints.txt
# etils
# huggingface-hub
glfw==2.10.0
# via
# -c /tmp/spider_existing_constraints.txt
# mujoco
google-auth==2.58.0
# via
# -r /tmp/spider_no_torch.txt
# google-auth-oauthlib
# gspread
google-auth-oauthlib==1.4.1
# via gspread
gspread==6.2.1
# via -r /tmp/spider_no_torch.txt
h11==0.16.0
# via
# -c /tmp/spider_existing_constraints.txt
# httpcore
hf-xet==1.6.0
# via
# -c /tmp/spider_existing_constraints.txt
# huggingface-hub
httpcore==1.0.9
# via
# -c /tmp/spider_existing_constraints.txt
# httpx
httpx==0.28.1
# via
# -c /tmp/spider_existing_constraints.txt
# huggingface-hub
huggingface-hub==1.31.0
# via
# -c /tmp/spider_existing_constraints.txt
# -r /tmp/spider_no_torch.txt
hydra-core==1.3.2
# via
# -c /tmp/spider_existing_constraints.txt
# -r /tmp/spider_no_torch.txt
idna==3.18
# via
# -c /tmp/spider_existing_constraints.txt
# anyio
# httpx
# requests
imageio==2.37.3
# via
# -c /tmp/spider_existing_constraints.txt
# -r /tmp/spider_no_torch.txt
# viser
imageio-ffmpeg==0.6.0
# via
# -c /tmp/spider_existing_constraints.txt
# imageio
importlib-metadata==9.0.0
# via
# -c /tmp/spider_existing_constraints.txt
# dash
ipdb==0.13.13
# via -r /tmp/spider_no_torch.txt
ipykernel==7.3.0
# via -r /tmp/spider_no_torch.txt
ipython==9.15.0
# via
# -c /tmp/spider_existing_constraints.txt
# ipdb
# ipykernel
# ipywidgets
# mediapy
ipython-pygments-lexers==1.1.1
# via
# -c /tmp/spider_existing_constraints.txt
# ipython
ipywidgets==8.1.9
# via open3d
itsdangerous==2.2.0
# via flask
janus==2.0.0
# via dash
jedi==0.20.0
# via
# -c /tmp/spider_existing_constraints.txt
# ipython
jinja2==3.1.6
# via
# -c /tmp/spider_existing_constraints.txt
# flask
joblib==1.6.0
# via scikit-learn
jsonschema==4.26.0
# via nbformat
jsonschema-specifications==2025.9.1
# via jsonschema
jupyter-client==8.10.0
# via ipykernel
jupyter-core==5.9.1
# via
# ipykernel
# jupyter-client
# nbformat
jupyterlab-widgets==3.0.17
# via ipywidgets
kiwisolver==1.5.0
# via
# -c /tmp/spider_existing_constraints.txt
# matplotlib
loguru==0.7.3
# via -r /tmp/spider_no_torch.txt
loop-rate-limiters==1.2.0
# via -r /tmp/spider_no_torch.txt
markdown-it-py==4.2.0
# via
# -c /tmp/spider_existing_constraints.txt
# rich
markupsafe==3.0.3
# via
# -c /tmp/spider_existing_constraints.txt
# flask
# jinja2
# werkzeug
matplotlib==3.11.0
# via
# -c /tmp/spider_existing_constraints.txt
# -r /tmp/spider_no_torch.txt
# mediapy
# open3d
matplotlib-inline==0.2.2
# via
# -c /tmp/spider_existing_constraints.txt
# ipykernel
# ipython
mdurl==0.1.2
# via
# -c /tmp/spider_existing_constraints.txt
# markdown-it-py
mediapy==1.2.7
# via
# -c /tmp/spider_existing_constraints.txt
# -r /tmp/spider_no_torch.txt
mink==1.1.0
# via -r /tmp/spider_no_torch.txt
msgspec==0.21.1
# via
# -c /tmp/spider_existing_constraints.txt
# viser
mujoco==3.7.0
# via
# -r /tmp/spider_no_torch.txt
# mink
# mujoco-warp
mujoco-warp==3.7.0.1
# via -r /tmp/spider_no_torch.txt
narwhals==2.26.0
# via
# plotly
# scikit-learn
nbformat==5.11.1
# via open3d
nest-asyncio==1.6.0
# via dash
nest-asyncio2==1.7.2
# via ipykernel
numpy==2.4.4
# via
# -c /tmp/spider_existing_constraints.txt
# -r /tmp/spider_no_torch.txt
# contourpy
# imageio
# matplotlib
# mediapy
# mujoco
# mujoco-warp
# open3d
# opencv-python
# pandas
# pymeshlab
# pyquaternion
# qpsolvers
# rerun-sdk
# scikit-learn
# scipy
# trimesh
# viser
# warp-lang
oauthlib==3.3.1
# via requests-oauthlib
omegaconf==2.3.1
# via
# -c /tmp/spider_existing_constraints.txt
# hydra-core
open3d==0.19.0
# via -r /tmp/spider_no_torch.txt
opencv-python==5.0.0.93
# via
# -c /tmp/spider_existing_constraints.txt
# -r /tmp/spider_no_torch.txt
packaging==26.2
# via
# -c /tmp/spider_existing_constraints.txt
# huggingface-hub
# hydra-core
# ipykernel
# matplotlib
# plotly
pandas==3.0.5
# via
# -c /tmp/spider_existing_constraints.txt
# open3d
parso==0.8.7
# via
# -c /tmp/spider_existing_constraints.txt
# jedi
pexpect==4.9.0
# via
# -c /tmp/spider_existing_constraints.txt
# ipython
pillow==12.2.0
# via
# -c /tmp/spider_existing_constraints.txt
# imageio
# matplotlib
# mediapy
# open3d
# rerun-sdk
platformdirs==4.10.0
# via
# -c /tmp/spider_existing_constraints.txt
# jupyter-core
plotly==7.0.0
# via dash
prompt-toolkit==3.0.52
# via
# -c /tmp/spider_existing_constraints.txt
# ipython
psutil==7.2.2
# via
# -c /tmp/spider_existing_constraints.txt
# imageio
# ipykernel
# ipython
ptyprocess==0.7.0
# via
# -c /tmp/spider_existing_constraints.txt
# pexpect
pure-eval==0.2.3
# via
# -c /tmp/spider_existing_constraints.txt
# stack-data
pyarrow==25.0.1
# via rerun-sdk
pyasn1==0.6.4
# via pyasn1-modules
pyasn1-modules==0.4.2
# via google-auth
pycparser==3.0
# via
# -c /tmp/spider_existing_constraints.txt
# cffi
pydantic==2.13.4
# via
# -c /tmp/spider_existing_constraints.txt
# dash
pydantic-core==2.46.4
# via
# -c /tmp/spider_existing_constraints.txt
# pydantic
pygments==2.20.0
# via
# -c /tmp/spider_existing_constraints.txt
# ipython
# ipython-pygments-lexers
# rich
pymeshlab==2023.12.post3
# via -r /tmp/spider_no_torch.txt
pyopengl==3.1.0
# via
# -c /tmp/spider_existing_constraints.txt
# mujoco
pyparsing==3.3.2
# via
# -c /tmp/spider_existing_constraints.txt
# matplotlib
pyquaternion==0.9.9
# via open3d
python-dateutil==2.9.0.post0
# via
# -c /tmp/spider_existing_constraints.txt
# jupyter-client
# matplotlib
# pandas
pyyaml==6.0.3
# via
# -c /tmp/spider_existing_constraints.txt
# huggingface-hub
# omegaconf
# open3d
pyzmq==27.2.0
# via
# ipykernel
# jupyter-client
qpsolvers==4.13.0
# via mink
referencing==0.37.0
# via
# jsonschema
# jsonschema-specifications
requests==2.34.2
# via
# -c /tmp/spider_existing_constraints.txt
# dash
# requests-oauthlib
# viser
requests-oauthlib==2.0.0
# via google-auth-oauthlib
rerun-sdk==0.26.2
# via -r /tmp/spider_no_torch.txt
retrying==1.4.2
# via dash
rich==14.3.4
# via
# -c /tmp/spider_existing_constraints.txt
# viser
rpds-py==2026.6.3
# via
# jsonschema
# referencing
scikit-learn==1.9.1
# via open3d
scipy==1.17.1
# via
# -c /tmp/spider_existing_constraints.txt
# qpsolvers
# scikit-learn
setuptools==79.0.1
# via
# -c /tmp/spider_existing_constraints.txt
# dash
six==1.17.0
# via
# -c /tmp/spider_existing_constraints.txt
# python-dateutil
stack-data==0.6.3
# via
# -c /tmp/spider_existing_constraints.txt
# ipython
threadpoolctl==3.6.0
# via scikit-learn
tornado==6.5.8
# via
# ipykernel
# jupyter-client
tqdm==4.68.3
# via
# -c /tmp/spider_existing_constraints.txt
# huggingface-hub
# open3d
# viser
traitlets==5.15.1
# via
# -c /tmp/spider_existing_constraints.txt
# ipykernel
# ipython
# ipywidgets
# jupyter-client
# jupyter-core
# matplotlib-inline
# nbformat
trimesh==4.12.2
# via
# -c /tmp/spider_existing_constraints.txt
# viser
typeguard==4.5.2
# via
# -c /tmp/spider_existing_constraints.txt
# tyro
typing-extensions==4.16.0
# via
# -c /tmp/spider_existing_constraints.txt
# anyio
# dash
# etils
# huggingface-hub
# ipython
# jupyter-client
# mink
# pydantic
# pydantic-core
# referencing
# rerun-sdk
# typeguard
# typing-inspection
# tyro
# viser
typing-inspection==0.4.2
# via
# -c /tmp/spider_existing_constraints.txt
# pydantic
tyro==1.0.15
# via
# -c /tmp/spider_existing_constraints.txt
# -r /tmp/spider_no_torch.txt
urllib3==2.7.0
# via
# -c /tmp/spider_existing_constraints.txt
# requests
viser==1.0.30
# via
# -c /tmp/spider_existing_constraints.txt
# -r /tmp/spider_no_torch.txt
warp-lang==1.12.1
# via
# -r /tmp/spider_no_torch.txt
# mujoco-warp
wcwidth==0.8.2
# via
# -c /tmp/spider_existing_constraints.txt
# prompt-toolkit
websockets==16.0
# via
# -c /tmp/spider_existing_constraints.txt
# viser
werkzeug==3.1.8
# via
# -c /tmp/spider_existing_constraints.txt
# dash
# flask
# open3d
widgetsnbextension==4.0.16
# via ipywidgets
zipp==4.1.0
# via
# -c /tmp/spider_existing_constraints.txt
# etils
# importlib-metadata
zstandard==0.25.0
# via
# -c /tmp/spider_existing_constraints.txt
# viser